diff --git a/package/python-pybind/0001-pybind11-commands.py-support-STAGING_DIR.patch b/package/python-pybind/0001-pybind11-commands.py-support-STAGING_DIR.patch
new file mode 100644
index 0000000000..981a387be4
--- /dev/null
+++ b/package/python-pybind/0001-pybind11-commands.py-support-STAGING_DIR.patch
@@ -0,0 +1,36 @@
+From 9feaba4792c1d0a28e560ae941fa9ebabbbe4013 Mon Sep 17 00:00:00 2001
+From: "Arnout Vandecappelle (Essensium/Mind)" <arnout@mind.be>
+Date: Fri, 7 Jan 2022 19:32:18 +0100
+Subject: [PATCH] pybind11/commands.py: support STAGING_DIR
+
+In Buildroot, we install build-time python scripts in the host directory
+(otherwise they can't be run with host python), but when running
+pybind11 --includes it should return the staging directory.
+
+Patch commands.py to use the STAGING_DIR environment variable instead of
+the current directory, if it is set.
+
+Signed-off-by: Arnout Vandecappelle (Essensium/Mind) <arnout@mind.be>
+Upstream-Status: N/A, Buildroot specific
+---
+ pybind11/commands.py | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/pybind11/commands.py b/pybind11/commands.py
+index 34dbaf8..8c4876d 100644
+--- a/pybind11/commands.py
++++ b/pybind11/commands.py
+@@ -1,8 +1,8 @@
+ # -*- coding: utf-8 -*-
+ import os
+ 
+-
+-DIR = os.path.abspath(os.path.dirname(__file__))
++DIR = os.environ.get('STAGING_DIR') or \
++    os.path.abspath(os.path.dirname(__file__))
+ 
+ 
+ def get_include(user=False):
+-- 
+2.31.1
+
diff --git a/package/python-pybind/Config.in b/package/python-pybind/Config.in
index 604cb9ee67..27bc196e32 100644
--- a/package/python-pybind/Config.in
+++ b/package/python-pybind/Config.in
@@ -1,5 +1,6 @@
 config BR2_PACKAGE_PYTHON_PYBIND
 	bool "python-pybind"
+	depends on BR2_PACKAGE_PYTHON3
 	help
 	  PyBind is a lightweight header-only library that exposes C++
 	  types in Python and vice versa, mainly to create Python
diff --git a/package/python-pybind/python-pybind.mk b/package/python-pybind/python-pybind.mk
index a6a1bdb976..4dd52003ad 100644
--- a/package/python-pybind/python-pybind.mk
+++ b/package/python-pybind/python-pybind.mk
@@ -8,6 +8,21 @@ PYTHON_PYBIND_VERSION = 2.6.1
 PYTHON_PYBIND_SITE = $(call github,pybind,pybind11,v$(PYTHON_PYBIND_VERSION))
 PYTHON_PYBIND_LICENSE = BSD-3-Clause
 PYTHON_PYBIND_LICENSE_FILES = LICENSE
-PYTHON_PYBIND_SETUP_TYPE = setuptools
+PYTHON_PYBIND_INSTALL_STAGING = YES
+PYTHON_PYBIND_INSTALL_TARGET = NO # Header-only library
+PYTHON_PYBIND_DEPENDENCIES = python3
 
-$(eval $(python-package))
+PYTHON_PYBIND_CONF_OPTS = \
+	-DPYBIND11_INSTALL=ON \
+	-DPYBIND11_TEST=OFF \
+	-DPYBIND11_NOPYTHON=ON
+
+PYTHON_PYBIND_INSTALL_PATH = $(HOST_DIR)/usr/lib/python$(PYTHON3_VERSION_MAJOR)/site-packages/pybind11
+
+define PYTHON_PYBIND_INSTALL_MODULE
+	mkdir -p $(PYTHON_PYBIND_INSTALL_PATH)
+	cp -dpf $(@D)/pybind11/*.py $(PYTHON_PYBIND_INSTALL_PATH)
+endef
+PYTHON_PYBIND_POST_INSTALL_STAGING_HOOKS += PYTHON_PYBIND_INSTALL_MODULE
+
+$(eval $(cmake-package))