diff --git a/src/python/CMakeLists.txt b/src/python/CMakeLists.txt
index f6a4d9d7c..85f9a3a19 100644
--- a/src/python/CMakeLists.txt
+++ b/src/python/CMakeLists.txt
@@ -100,7 +100,6 @@ if (PYTHONLIBS_FOUND)
       PID_TEST
       Plane_TEST
       python_TEST
-      RotationSpline_TEST
       SignalStats_TEST
       Sphere_TEST
       SphericalCoordinates_TEST
diff --git a/src/python_pybind11/CMakeLists.txt b/src/python_pybind11/CMakeLists.txt
index c94a8952a..e0c42e8b9 100644
--- a/src/python_pybind11/CMakeLists.txt
+++ b/src/python_pybind11/CMakeLists.txt
@@ -21,6 +21,7 @@ if (${pybind11_FOUND})
     src/Material.cc
     src/Rand.cc
     src/RollingMean.cc
+    src/RotationSpline.cc
     src/SemanticVersion.cc
     src/Spline.cc
     src/StopWatch.cc
@@ -90,6 +91,7 @@ if (${pybind11_FOUND})
       Quaternion_TEST
       Rand_TEST
       RollingMean_TEST
+      RotationSpline_TEST
       SemanticVersion_TEST
       Spline_TEST
       StopWatch_TEST
diff --git a/src/python_pybind11/src/RotationSpline.cc b/src/python_pybind11/src/RotationSpline.cc
new file mode 100644
index 000000000..9c1b91df5
--- /dev/null
+++ b/src/python_pybind11/src/RotationSpline.cc
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <string>
+#include "RotationSpline.hh"
+#include <ignition/math/RotationSpline.hh>
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathRotationSpline(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::RotationSpline;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+  .def(py::init<>())
+  .def("add_point",
+       &Class::AddPoint,
+       "Adds a control point to the end of the spline.")
+   .def("point",
+        &Class::Point,
+        py::return_value_policy::reference,
+        "Gets the detail of one of the control points of the spline.")
+   .def("point_count",
+        &Class::PointCount,
+        "Gets the number of control points in the spline.")
+   .def("clear",
+        &Class::Clear,
+        "Clears all the points in the spline.")
+   .def("update_point",
+        &Class::UpdatePoint,
+        "Updates a single point in the spline.")
+   .def("interpolate",
+        py::overload_cast<double, const bool>(&Class::Interpolate),
+        py::arg("_t") = 0, py::arg("_useShortestPath") = true,
+        "Returns an interpolated point based on a parametric "
+        "value over the whole series.")
+   .def("interpolate",
+        py::overload_cast<const unsigned int, const double, const bool>
+          (&Class::Interpolate),
+        py::arg("_fromIndex") = 0,
+        py::arg("_t") = 0, py::arg("_useShortestPath") = true,
+        "Interpolates a single segment of the spline "
+        "given a parametric value.")
+   .def("auto_calculate", &Class::AutoCalculate,
+        "Tells the spline whether it should automatically calculate "
+        "tangents on demand as points are added.")
+   .def("recalc_tangents", &Class::RecalcTangents,
+        "Recalculates the tangents associated with this spline.");
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
diff --git a/src/python_pybind11/src/RotationSpline.hh b/src/python_pybind11/src/RotationSpline.hh
new file mode 100644
index 000000000..670b2ad97
--- /dev/null
+++ b/src/python_pybind11/src/RotationSpline.hh
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__ROTATIONSPLINE_HH_
+#define IGNITION_MATH_PYTHON__ROTATIONSPLINE_HH_
+
+#include <pybind11/pybind11.h>
+#include <string>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::RotationSpline
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathRotationSpline(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__ROTATIONSPLINE_HH_
diff --git a/src/python_pybind11/src/_ignition_math_pybind11.cc b/src/python_pybind11/src/_ignition_math_pybind11.cc
index 07b280036..6288d9c5a 100644
--- a/src/python_pybind11/src/_ignition_math_pybind11.cc
+++ b/src/python_pybind11/src/_ignition_math_pybind11.cc
@@ -28,6 +28,7 @@
 #include "Quaternion.hh"
 #include "Rand.hh"
 #include "RollingMean.hh"
+#include "RotationSpline.hh"
 #include "SemanticVersion.hh"
 #include "Spline.hh"
 #include "StopWatch.hh"
@@ -64,6 +65,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathRollingMean(m, "RollingMean");
 
+  ignition::math::python::defineMathRotationSpline(m, "RotationSpline");
+
   ignition::math::python::defineMathSemanticVersion(m, "SemanticVersion");
 
   ignition::math::python::defineMathSpline(m, "Spline");
diff --git a/src/python/RotationSpline_TEST.py b/src/python_pybind11/test/RotationSpline_TEST.py
similarity index 100%
rename from src/python/RotationSpline_TEST.py
rename to src/python_pybind11/test/RotationSpline_TEST.py