diff --git a/ports/osqp-eigen/osqp-eigen.patch b/ports/osqp-eigen/osqp-eigen.patch
new file mode 100644
index 00000000000000..39c954f28d0eae
--- /dev/null
+++ b/ports/osqp-eigen/osqp-eigen.patch
@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8406ab9..24c6328 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -144,6 +144,7 @@ install_basic_package_files(${PROJECT_NAME}
+   NO_CHECK_REQUIRED_COMPONENTS_MACRO
+   DEPENDENCIES ${OSQP_EIGEN_EXPORTED_DEPENDENCIES})
+ 
++if(0)
+ # Install package.xml to share
+ install(FILES package.xml DESTINATION share/cmake/osqp-eigen)
+ 
+@@ -152,3 +153,4 @@ include(AddOsqpEigenUnitTest)
+ add_subdirectory(tests)
+ 
+ include(AddUninstallTarget)
++endif()
diff --git a/ports/osqp-eigen/portfile.cmake b/ports/osqp-eigen/portfile.cmake
new file mode 100644
index 00000000000000..f3607aabf75899
--- /dev/null
+++ b/ports/osqp-eigen/portfile.cmake
@@ -0,0 +1,18 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO "robotology/osqp-eigen"
+    REF v${VERSION}
+    SHA512 92a801892ce11d3167e3f1eb98cd988e7be7cbc3caa070b1628977b7d881b34c1207d9c1443ba381d88be4133bda6d3e9195c931f9554537c86832841f1e61fb 
+    PATCHES osqp-eigen.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(PACKAGE_NAME "osqpeigen" CONFIG_PATH "lib/cmake/OsqpEigen")
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")
diff --git a/ports/osqp-eigen/vcpkg.json b/ports/osqp-eigen/vcpkg.json
new file mode 100644
index 00000000000000..24ab281fcbd099
--- /dev/null
+++ b/ports/osqp-eigen/vcpkg.json
@@ -0,0 +1,22 @@
+{
+  "name": "osqp-eigen",
+  "version": "0.7.0",
+  "port-version": 2,
+  "description": "Simple C++ wrapper for the osqp library",
+  "homepage": "https://robotology.github.io/osqp-eigen/",
+  "dependencies": [
+    "eigen3",
+    {
+      "name": "osqp",
+      "version>=": "0.6.2"
+    },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}
diff --git a/ports/osqp/osqp.patch b/ports/osqp/osqp.patch
new file mode 100644
index 00000000000000..bd48d74205f429
--- /dev/null
+++ b/ports/osqp/osqp.patch
@@ -0,0 +1,45 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 64671fc6..4cf113c8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -265,7 +265,7 @@ add_subdirectory(lin_sys)
+ # Static library
+ add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
+ # Give same name to static library output
+-set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
++set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp EXPORT_NAME osqp)
+ 
+ # Include directories for linear system solvers
+ target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
+@@ -298,6 +298,7 @@ if (MATLAB)
+ target_link_libraries (osqpstatic ${Matlab_LIBRARIES})
+ endif (MATLAB)
+ 
++if(0)
+ # If we are building Python/Matlab/R interface:
+ #   - do not build shared library
+ #   - do not build demo
+@@ -326,6 +327,7 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
+     target_link_libraries (osqp_demo osqpstatic)
+ 
+ endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
++endif()
+ 
+ # Create CMake packages for the build directory
+ # ----------------------------------------------
+@@ -355,6 +357,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/osqp-config.cmake
+ 
+ 
+ 
++if(0)
+ # Add uninstall command
+ # ----------------------------------------------
+ if(NOT TARGET uninstall)
+@@ -366,6 +369,7 @@ if(NOT TARGET uninstall)
+     add_custom_target(uninstall
+         COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+ endif()
++endif()
+ 
+ 
+ 
diff --git a/ports/osqp/portfile.cmake b/ports/osqp/portfile.cmake
new file mode 100644
index 00000000000000..b828d8d42f715a
--- /dev/null
+++ b/ports/osqp/portfile.cmake
@@ -0,0 +1,52 @@
+if(VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO "osqp/osqp"
+    REF v0.6.2     
+    SHA512 1e3e1e06891ba862d982f9f37503580268709bf1ea5008daab95393501c85aa69c79d321c45bc87dc53000274dd120c148b90c1797156e340fe361929ff2e324
+    PATCHES osqp.patch
+)
+
+vcpkg_download_distfile(
+    QDLDL
+    URLS "https://github.com/osqp/qdldl/archive/refs/tags/v0.1.5.tar.gz"
+    FILENAME "qdldl-0.1.5.tar.gz"
+    SHA512 3a224767708484d6728e4b0801210c5e7d4e906564c0855c7987876316cde7349c2717a169b4a6680495b0c71415be383e3e5c6826873fb92d7e93258a7a03a8
+)
+
+vcpkg_extract_source_archive(
+    QDLDL_SOURCE_PATH
+    ARCHIVE "${QDLDL}"
+    PATCHES qdldl.patch
+)
+
+vcpkg_execute_required_process(
+    COMMAND ${CMAKE_COMMAND} -E copy_directory "${QDLDL_SOURCE_PATH}" "${SOURCE_PATH}/lin_sys/direct/qdldl/qdldl_sources/" 
+    WORKING_DIRECTORY "${SOURCE_PATH}"
+    LOGNAME copy                
+)
+
+vcpkg_cmake_configure(
+  SOURCE_PATH "${SOURCE_PATH}"
+  OPTIONS
+    -DPYTHON=OFF
+    -DMATLAB=OFF
+    -DR_LANG=OFF
+    -DUNITTESTS=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(
+    CONFIG_PATH "lib/cmake/osqp"
+)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(
+  INSTALL "${SOURCE_PATH}/LICENSE"
+  DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}"
+  RENAME copyright
+)
diff --git a/ports/osqp/qdldl.patch b/ports/osqp/qdldl.patch
new file mode 100644
index 00000000000000..74193c43696e4d
--- /dev/null
+++ b/ports/osqp/qdldl.patch
@@ -0,0 +1,36 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 06c3d9c..6720029 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -126,6 +126,7 @@ install(TARGETS qdldlstatic
+ install(FILES ${qdldl_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/qdldl")
+ 
+ 
++if(0)
+ # Install Shared Library
+ # ----------------------------------------------
+ # Create qdldl shared library
+@@ -146,6 +147,7 @@ install(TARGETS qdldl
+ # Create demo executable (linked to static library)
+ add_executable (qdldl_example ${PROJECT_SOURCE_DIR}/examples/example.c)
+ target_link_libraries (qdldl_example qdldlstatic)
++endif()
+ 
+ 
+ # Create CMake packages for the build directory
+@@ -176,6 +178,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/qdldl-config.cmake
+ 
+ 
+ 
++if(0)
+ # Add uninstall command
+ # ----------------------------------------------
+ if(NOT TARGET uninstall)
+@@ -187,6 +190,7 @@ if(NOT TARGET uninstall)
+     add_custom_target(uninstall
+         COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+ endif()
++endif()
+ 
+ 
+ 
diff --git a/ports/osqp/vcpkg.json b/ports/osqp/vcpkg.json
new file mode 100644
index 00000000000000..a23b0bf00c3161
--- /dev/null
+++ b/ports/osqp/vcpkg.json
@@ -0,0 +1,16 @@
+{
+  "name": "osqp",
+  "version": "0.6.2",
+  "description": "The Operator Splitting QP Solver",
+  "homepage": "https://osqp.org/",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index 2c7d9c93d21edc..46a93afee90018 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -6832,6 +6832,14 @@
       "baseline": "4.6.1",
       "port-version": 0
     },
+    "osqp": {
+      "baseline": "0.6.2",
+      "port-version": 0
+    },
+    "osqp-eigen": {
+      "baseline": "0.7.0",
+      "port-version": 2
+    },
     "otl": {
       "baseline": "4.0.478",
       "port-version": 0
diff --git a/versions/o-/osqp-eigen.json b/versions/o-/osqp-eigen.json
new file mode 100644
index 00000000000000..28b58a1f687241
--- /dev/null
+++ b/versions/o-/osqp-eigen.json
@@ -0,0 +1,19 @@
+{
+  "versions": [
+    {
+      "git-tree": "22e7cc81d95db7211121a9102764f38bbe0a58c4",
+      "version": "0.7.0",
+      "port-version": 2
+    },
+    {
+      "git-tree": "e7ea18207927577f82e9c0d9354355d5aa4fe278",
+      "version": "0.7.0",
+      "port-version": 1
+    },
+    {
+      "git-tree": "5ce5aa1c304bd2ceee4bfbc25e3b25be6408e0c2",
+      "version": "0.7.0",
+      "port-version": 0
+    }
+  ]
+}
diff --git a/versions/o-/osqp.json b/versions/o-/osqp.json
new file mode 100644
index 00000000000000..00777b12f16847
--- /dev/null
+++ b/versions/o-/osqp.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "ec510c3dc408a6286bad2dcb0e23b1275a2660dc",
+      "version": "0.6.2",
+      "port-version": 0
+    }
+  ]
+}