diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 487b1b16f4..404f929f8e 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -128,8 +128,13 @@ add_library(mujoco::libsimulate ALIAS libsimulate)
 
 target_sources(
   libsimulate
-  PUBLIC simulate.h
-  PRIVATE simulate.cc array_safety.h
+  PUBLIC 
+    simulate.h
+    platform_ui_adapter.h
+    glfw_adapter.h
+    glfw_dispatch.h
+    array_safety.h
+  PRIVATE simulate.cc 
 )
 target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_compile_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
@@ -246,9 +251,21 @@ if(SIMULATE_BUILD_EXECUTABLE)
       LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
       ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
       BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
-      PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
+      PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}" COMPONENT simulate
     )
 
+    # Specify public headers for libsimulate
+    if(SIMULATE_EXPOSE_HEADERS)
+      set_target_properties(libsimulate PROPERTIES PUBLIC_HEADER "simulate.h;platform_ui_adapter.h;glfw_adapter.h;glfw_dispatch.h;glfw_corevideo.h;array_safety.h")
+
+      install(
+      TARGETS libsimulate
+      EXPORT ${PROJECT_NAME}
+      ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
+      PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/simulate" COMPONENT simulate
+      )
+    endif()
+
     if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
       # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
       # need to install it.
@@ -260,7 +277,7 @@ if(SIMULATE_BUILD_EXECUTABLE)
           RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
           LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
           ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-          PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
+          PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}" COMPONENT simulate
         )
       endif()
     endif()
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 5141406cd9..91981cbc2d 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -102,3 +102,20 @@ if(NOT SIMULATE_STANDALONE)
   target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
   target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 endif()
+
+# Install GLFW headers if not using system GLFW
+if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
+  FetchContent_GetProperties(glfw3)
+  if(NOT glfw3_POPULATED)
+    message(FATAL_ERROR "GLFW3 not populated")
+  endif()
+
+  install(
+    DIRECTORY ${glfw3_SOURCE_DIR}/include/GLFW
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+    COMPONENT simulate
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN "CMake*" EXCLUDE
+    PATTERN ".git*" EXCLUDE
+  )
+endif()