diff --git a/recipes/manif/all/conandata.yml b/recipes/manif/all/conandata.yml
new file mode 100644
index 0000000000000..5d0f0b0b2a6f2
--- /dev/null
+++ b/recipes/manif/all/conandata.yml
@@ -0,0 +1,4 @@
+sources:
+  "0.0.5":
+    url: "https://github.com/artivis/manif/archive/refs/tags/0.0.5.tar.gz"
+    sha256: "246a781c54a5c57179d48096faca0d108944e120f69d8fd7fb69e3cb4a0a67fb"
diff --git a/recipes/manif/all/conanfile.py b/recipes/manif/all/conanfile.py
new file mode 100644
index 0000000000000..f0f62f808f152
--- /dev/null
+++ b/recipes/manif/all/conanfile.py
@@ -0,0 +1,66 @@
+import os
+
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.build import check_min_cppstd
+from conan.tools.files import copy, get
+from conan.tools.layout import basic_layout
+from conan.tools.scm import Version
+
+required_conan_version = ">=1.52.0"
+
+
+class PackageConan(ConanFile):
+    name = "manif"
+    description = "A small C++11 header-only library for Lie theory"
+    license = "MIT"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://artivis.github.io/manif"
+    topics = ("lie-groups", "state-estimation", "geometry", "robotics", "computer-vision", "header-only")
+
+    package_type = "header-library"
+    settings = "os", "arch", "compiler", "build_type"
+    no_copy_source = True
+
+    @property
+    def _min_cppstd(self):
+        return 11
+
+    @property
+    def _compilers_minimum_version(self):
+        return {
+            "gcc": "6",
+        }
+
+    def layout(self):
+        basic_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("eigen/3.4.0")
+        self.requires("tl-optional/1.1.0")
+
+    def package_id(self):
+        self.info.clear()
+
+    def validate(self):
+        if self.settings.compiler.cppstd:
+            check_min_cppstd(self, self._min_cppstd)
+        minimum_version = self._compilers_minimum_version.get(str(self.settings.compiler), False)
+        if minimum_version and Version(self.settings.compiler.version) < minimum_version:
+            raise ConanInvalidConfiguration(
+                f"{self.ref} requires C++{self._min_cppstd}, which your compiler does not support."
+            )
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def package(self):
+        copy(self, "LICENSE", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        copy(self, "*.h", os.path.join(self.source_folder, "include"), os.path.join(self.package_folder, "include"))
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "manif")
+        self.cpp_info.set_property("cmake_target_name", "MANIF::manif")
+
+        self.cpp_info.bindirs = []
+        self.cpp_info.libdirs = []
diff --git a/recipes/manif/all/test_package/CMakeLists.txt b/recipes/manif/all/test_package/CMakeLists.txt
new file mode 100644
index 0000000000000..84ba50bb17606
--- /dev/null
+++ b/recipes/manif/all/test_package/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package LANGUAGES CXX)
+
+find_package(manif REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE MANIF::manif)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_11)
diff --git a/recipes/manif/all/test_package/conanfile.py b/recipes/manif/all/test_package/conanfile.py
new file mode 100644
index 0000000000000..3a91c9439218e
--- /dev/null
+++ b/recipes/manif/all/test_package/conanfile.py
@@ -0,0 +1,26 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def layout(self):
+        cmake_layout(self)
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")
diff --git a/recipes/manif/all/test_package/test_package.cpp b/recipes/manif/all/test_package/test_package.cpp
new file mode 100644
index 0000000000000..c82dc520226c0
--- /dev/null
+++ b/recipes/manif/all/test_package/test_package.cpp
@@ -0,0 +1,10 @@
+#include <manif/manif.h>
+
+using namespace manif;
+
+int main() {
+  SE3d X = SE3d::Random();
+  SE3Tangentd w = SE3Tangentd::Random();
+  SE3d::Jacobian J_o_x, J_o_w;
+  auto X_plus_w = X.plus(w, J_o_x, J_o_w);
+}
diff --git a/recipes/manif/config.yml b/recipes/manif/config.yml
new file mode 100644
index 0000000000000..6506e357707be
--- /dev/null
+++ b/recipes/manif/config.yml
@@ -0,0 +1,3 @@
+versions:
+  "0.0.5":
+    folder: all