diff --git a/ports/sdformat6/portfile.cmake b/ports/sdformat6/portfile.cmake
index 6e32429e37285a..8818b2be88088e 100644
--- a/ports/sdformat6/portfile.cmake
+++ b/ports/sdformat6/portfile.cmake
@@ -16,41 +16,43 @@ get_filename_component(RUBY_PATH ${RUBY} DIRECTORY)
 set(_path $ENV{PATH})
 vcpkg_add_to_path(${RUBY_PATH})
 
-vcpkg_configure_cmake(
-    SOURCE_PATH ${SOURCE_PATH}
-    PREFER_NINJA
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS -DBUILD_TESTING=OFF
             -DUSE_EXTERNAL_URDF=ON
             -DUSE_EXTERNAL_TINYXML=ON
 )
 
-vcpkg_install_cmake()
+vcpkg_cmake_install()
 
 # Restore original path
 set(ENV{PATH} ${_path})
 
 # Move location of sdformat.dll from lib to bin
-if(EXISTS ${CURRENT_PACKAGES_DIR}/lib/sdformat.dll)
-    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/bin)
-    file(RENAME ${CURRENT_PACKAGES_DIR}/lib/sdformat.dll
-                ${CURRENT_PACKAGES_DIR}/bin/sdformat.dll)
+if(EXISTS "${CURRENT_PACKAGES_DIR}/lib/sdformat.dll")
+    file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/bin")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/lib/sdformat.dll"
+                "${CURRENT_PACKAGES_DIR}/bin/sdformat.dll")
 endif()
 
-if(EXISTS ${CURRENT_PACKAGES_DIR}/debug/lib/sdformat.dll)
-    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/debug/bin)
-    file(RENAME ${CURRENT_PACKAGES_DIR}/debug/lib/sdformat.dll
-                ${CURRENT_PACKAGES_DIR}/debug/bin/sdformat.dll)
+if(EXISTS "${CURRENT_PACKAGES_DIR}/debug/lib/sdformat.dll")
+    file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/debug/bin")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/sdformat.dll"
+                "${CURRENT_PACKAGES_DIR}/debug/bin/sdformat.dll")
 endif()
 
 # Fix cmake targets location
-vcpkg_fixup_cmake_targets(CONFIG_PATH "lib/cmake/sdformat")
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/sdformat")
 
 # Remove debug files
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include
-                    ${CURRENT_PACKAGES_DIR}/debug/lib/cmake
-                    ${CURRENT_PACKAGES_DIR}/debug/share)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include"
+                    "${CURRENT_PACKAGES_DIR}/debug/lib/cmake"
+                    "${CURRENT_PACKAGES_DIR}/debug/share")
 
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/ignition/sdformat6.yaml" "${CURRENT_PACKAGES_DIR}" "../..")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/sdformat-6.2/sdf/sdf_config.h" "#define SDF_SHARE_PATH \"${CURRENT_PACKAGES_DIR}/share/\"" "")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/sdformat-6.2/sdf/sdf_config.h" "#define SDF_VERSION_PATH \"${CURRENT_PACKAGES_DIR}/share/sdformat/\"" "")
 # Handle copyright
-file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
 
 vcpkg_fixup_pkgconfig()
diff --git a/ports/sdformat6/vcpkg.json b/ports/sdformat6/vcpkg.json
index 935b1be224ea16..f1ee8fccbabffe 100644
--- a/ports/sdformat6/vcpkg.json
+++ b/ports/sdformat6/vcpkg.json
@@ -1,7 +1,7 @@
 {
   "name": "sdformat6",
   "version": "6.2.0",
-  "port-version": 3,
+  "port-version": 4,
   "description": "Simulation Description Format (SDF) parser and description files.",
   "homepage": "http://sdformat.org/",
   "supports": "!(arm | uwp)",
@@ -10,6 +10,14 @@
     "boost-variant",
     "ignition-math4",
     "tinyxml",
-    "urdfdom"
+    "urdfdom",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
   ]
 }
diff --git a/versions/baseline.json b/versions/baseline.json
index cb6d1f996d864a..9a41e108baa404 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -6094,7 +6094,7 @@
     },
     "sdformat6": {
       "baseline": "6.2.0",
-      "port-version": 3
+      "port-version": 4
     },
     "sdformat9": {
       "baseline": "9.4.0",
diff --git a/versions/s-/sdformat6.json b/versions/s-/sdformat6.json
index e664b40922444b..2429b11d27f2cd 100644
--- a/versions/s-/sdformat6.json
+++ b/versions/s-/sdformat6.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "dc94f6d1e0351bb777ccd1823470fe22ad896c34",
+      "version": "6.2.0",
+      "port-version": 4
+    },
     {
       "git-tree": "1273532dcedd66beb82c6ce89024abac0e385761",
       "version": "6.2.0",