diff --git a/ports/rbdl-orb/portfile.cmake b/ports/rbdl-orb/portfile.cmake
new file mode 100644
index 00000000000000..ac829c62ce5986
--- /dev/null
+++ b/ports/rbdl-orb/portfile.cmake
@@ -0,0 +1,40 @@
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" RBDL_STATIC)	
+	
+vcpkg_from_github(
+  OUT_SOURCE_PATH SOURCE_PATH
+  REPO ORB-HD/rbdl-orb
+  REF b22abab856a90dbc62e6b2e79f148bd383b5ce43
+  SHA512 744a60145243454a9d148971d998ae7a3cc5b9d66131b5d6f3c7be80d6c9ef8b8bf4390b9d1b90b14be6c619c2e1d14c7c6104b3ca6e606e22e3581b548e4f9d	
+  HEAD_REF master
+)	
+
+vcpkg_from_github(
+  OUT_SOURCE_PATH PARSER_SOURCE_PATH
+  REPO ORB-HD/URDF_Parser
+  REF  0f3310d766c658b72d54560833012c8fe63ce9d7
+  SHA512 6cd8e300cc47b5a5370efb5a4cd843a1621e2832b790daedc1e260ba5bbcaaabdbcddce239f93c3900258093d483d332110ba7e9f0b4b6cda64ce51b6cf2365d
+)
+if(NOT EXISTS "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser/CMakeLists.txt")
+    file(REMOVE_RECURSE "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
+    file(RENAME "${PARSER_SOURCE_PATH}" "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
+endif()		
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        -DRBDL_BUILD_STATIC=${RBDL_STATIC}
+        -DRBDL_BUILD_ADDON_LUAMODEL=ON
+        -DRBDL_BUILD_ADDON_GEOMETRY=ON
+        -DRBDL_BUILD_ADDON_URDFREADER=ON
+        -DRBDL_BUILD_EXECUTABLES=OFF
+)
+
+vcpkg_cmake_install()
+
+# # Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+
+# # Remove duplicated include directory
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+vcpkg_copy_pdbs()
diff --git a/ports/rbdl-orb/vcpkg.json b/ports/rbdl-orb/vcpkg.json
new file mode 100644
index 00000000000000..2a1cd6beb9b13e
--- /dev/null
+++ b/ports/rbdl-orb/vcpkg.json
@@ -0,0 +1,19 @@
+{
+  "name": "rbdl-orb",
+  "version": "3.0.0",
+  "description": "Rigid Body Dynamics Library - ORB",
+  "homepage": "https://github.com/orb-hd/rbdl-orb",
+  "dependencies": [
+    "boost",
+    "eigen3",
+    "lua",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index 0c9184aad8307e..3ded1d9049a83a 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -5456,6 +5456,10 @@
       "baseline": "2.6.0",
       "port-version": 0
     },
+    "rbdl-orb": {
+      "baseline": "3.0.0",
+      "port-version": 0
+    },
     "re2": {
       "baseline": "2020-10-01",
       "port-version": 0
diff --git a/versions/r-/rbdl-orb.json b/versions/r-/rbdl-orb.json
new file mode 100644
index 00000000000000..0b2c7b6ae0bf9c
--- /dev/null
+++ b/versions/r-/rbdl-orb.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "d475aade9be86281a6db741ee68e30a23d0f16d3",
+      "version": "3.0.0",
+      "port-version": 0
+    }
+  ]
+}