diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4005d7..c79a27b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -103,6 +103,8 @@ if (ENABLE_GUI)
   add_subdirectory (gui)
 endif ()
 
+include(GNUInstallDirs)
+
 # Install the header files into include/
 install(FILES include/tic.h include/tic.hpp include/tic_protocol.h
-  DESTINATION "include/libpololu-tic-${SOFTWARE_VERSION_MAJOR}")
+  DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/libpololu-tic-${SOFTWARE_VERSION_MAJOR}")
diff --git a/cli/CMakeLists.txt b/cli/CMakeLists.txt
index 68cd868..0a930cb 100644
--- a/cli/CMakeLists.txt
+++ b/cli/CMakeLists.txt
@@ -20,4 +20,6 @@ include_directories (
 
 target_link_libraries (cli lib)
 
-install(TARGETS cli DESTINATION bin)
+include(GNUInstallDirs)
+
+install(TARGETS cli DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/gui/CMakeLists.txt b/gui/CMakeLists.txt
index 4fce71d..bef617c 100644
--- a/gui/CMakeLists.txt
+++ b/gui/CMakeLists.txt
@@ -52,4 +52,6 @@ endif ()
 
 target_link_libraries (gui Qt5::Widgets lib bootloader)
 
-install(TARGETS gui DESTINATION bin)
+include(GNUInstallDirs)
+
+install(TARGETS gui DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/lib/CMakeLists.txt b/lib/CMakeLists.txt
index 3917daa..63ad83f 100644
--- a/lib/CMakeLists.txt
+++ b/lib/CMakeLists.txt
@@ -73,10 +73,12 @@ configure_file (
   @ONLY
 )
 
+include(GNUInstallDirs)
+
 install(FILES "${CMAKE_CURRENT_BINARY_DIR}/libpololu-tic-${SOFTWARE_VERSION_MAJOR}.pc"
-  DESTINATION lib/pkgconfig)
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
 
 install(TARGETS lib
-  RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib)
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})