diff --git a/ports/rbdl/001_x64_number_of_sections_exceeded_in_object_file_patch.diff b/ports/rbdl/001_x64_number_of_sections_exceeded_in_object_file_patch.diff
new file mode 100644
index 0000000000..8aaf4d3843
--- /dev/null
+++ b/ports/rbdl/001_x64_number_of_sections_exceeded_in_object_file_patch.diff
@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b2db532da..42c004380 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -112,6 +112,10 @@ SET ( RBDL_SOURCES
+ 	src/Kinematics.cc
+ 	)
+ 
++IF (MSVC)
++  SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
++ENDIF (MSVC)
++
+ IF (MSVC AND NOT RBDL_BUILD_STATIC)	
+   MESSAGE (FATAL_ERROR, "Compiling RBDL as a DLL currently not supported. Please enable RBDL_BUILD_STATIC.")
+ ENDIF (MSVC AND NOT RBDL_BUILD_STATIC)	
diff --git a/ports/rbdl/CONTROL b/ports/rbdl/CONTROL
new file mode 100644
index 0000000000..1a674323c5
--- /dev/null
+++ b/ports/rbdl/CONTROL
@@ -0,0 +1,6 @@
+Source: rbdl
+Version: 2.6.0
+Port-Version: 0
+Homepage: https://github.com/rbdl/rbdl
+Description: Rigid Body Dynamics Library
+Build-Depends: eigen3
diff --git a/ports/rbdl/portfile.cmake b/ports/rbdl/portfile.cmake
new file mode 100644
index 0000000000..adf580e6dc
--- /dev/null
+++ b/ports/rbdl/portfile.cmake
@@ -0,0 +1,32 @@
+if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(RBDL_STATIC ON)
+else()
+    set(RBDL_STATIC OFF)
+endif()
+
+vcpkg_from_github(ARCHIVE
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO rbdl/rbdl
+    REF v2.6.0
+    SHA512 7b5fd03c0090277f295a28a1ff0542cd8cff76dda4379b3edc61ca3d868bf77d8b4882f81865fdffd0cf756c613fe55238b29a83bc163fc32aa94aa9d5781480
+    HEAD_REF master
+    PATCHES 001_x64_number_of_sections_exceeded_in_object_file_patch.diff
+)
+
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA # Disable this option if project cannot be built with Ninja
+    OPTIONS
+        -DRBDL_BUILD_STATIC=${RBDL_STATIC}
+)
+
+vcpkg_install_cmake()
+
+# # 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()