diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d3de8c..f5d0ff9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -263,9 +263,12 @@ else (build_errors)
   set(PKG_LIBRARIES ${PROJECT_NAME_LOWER})
   set(PKG_DEPENDS)
 
-  configure_file(
+  include(CMakePackageConfigHelpers)
+  configure_package_config_file(
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/ignition-config.cmake.in"
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake" @ONLY)
+    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake"
+    INSTALL_DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}
+  )
   install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake
     DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}
     COMPONENT cmake)
diff --git a/cmake/ignition-config.cmake.in b/cmake/ignition-config.cmake.in
index 3bfb573..f2465b8 100644
--- a/cmake/ignition-config.cmake.in
+++ b/cmake/ignition-config.cmake.in
@@ -3,13 +3,15 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-list(APPEND @PKG_NAME@_BINARY_DIRS @CMAKE_INSTALL_PREFIX@/bin)
+@PACKAGE_INIT@
 
-list(APPEND @PKG_NAME@_INCLUDE_DIRS @CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@)
+list(APPEND @PKG_NAME@_BINARY_DIRS ${PACKAGE_PREFIX_DIR}/bin)
 
-list(APPEND @PKG_NAME@_LIBRARY_DIRS @CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@)
+list(APPEND @PKG_NAME@_INCLUDE_DIRS ${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_INCLUDEDIR@)
 
-list(APPEND @PKG_NAME@_CFLAGS -I@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@)
+list(APPEND @PKG_NAME@_LIBRARY_DIRS ${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@)
+
+list(APPEND @PKG_NAME@_CFLAGS -I${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_INCLUDEDIR@)
 
 list(APPEND @PKG_NAME@_CXX_FLAGS -std=c++11)
 if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
@@ -25,4 +27,4 @@ foreach(dep @PKG_DEPENDS@)
   list(APPEND @PKG_NAME@_LIBRARIES ${${dep_upper}_LIBRARIES})
 endforeach()
 
-list(APPEND @PKG_NAME@_LDFLAGS -L@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@)
+list(APPEND @PKG_NAME@_LDFLAGS -L${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@)
diff --git a/cmake/pkgconfig/ignition.in b/cmake/pkgconfig/ignition.in
index 11931f4..c90dc14 100644
--- a/cmake/pkgconfig/ignition.in
+++ b/cmake/pkgconfig/ignition.in
@@ -1,4 +1,4 @@
-prefix=@CMAKE_INSTALL_PREFIX@
+prefix=${pcfiledir}/../..
 libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
 includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@