diff --git a/CHANGELOG.md b/CHANGELOG.md
index 73483fc43..7d598321f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,7 @@
 # CHANGELOG
 
 Release Versions:
+- [6.3.1](#631)
 - [6.3.0](#630)
 - [6.2.0](#620)
 - [6.1.0](#610)
@@ -15,6 +16,14 @@ Release Versions:
 - [2.0.0](#200)
 - [1.0.0](#100)
 
+## 6.3.1
+
+Version 6.3.1 is a patch release to fix the modified installation instructions for the Eigen library.
+
+### Fixes
+
+- Fix Eigen installation flags (#323)
+
 ## 6.3.0
 
 Version 6.3.0 contains behind-the-scenes structural improvements to Dockerfiles and GitHub workflows
diff --git a/Dockerfile.base b/Dockerfile.base
index ff0155395..a0b1d75a7 100644
--- a/Dockerfile.base
+++ b/Dockerfile.base
@@ -48,7 +48,7 @@ RUN apt-get update && apt-get install -y \
 WORKDIR /tmp
 ARG EIGEN_TAG=3.4.0
 RUN wget -c https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_TAG}/eigen-${EIGEN_TAG}.tar.gz -O - | tar -xz \
-    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && cmake -DEIGEN_MPL2_ONLY .. && make install \
+    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && env CXXFLAGS=-DEIGEN_MPL2_ONLY cmake .. && make install \
     && cd ../.. && rm -r eigen-${EIGEN_TAG} || exit 1
 
 ARG OSQP_TAG=0.6.2
diff --git a/VERSION b/VERSION
index 798e38995..dc0208aba 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-6.3.0
+6.3.1
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index be9486b1f..eb5fed53f 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 6.3.0 CONFIG REQUIRED)
+find_package(control_libraries 6.3.1 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index 2759ed685..763d7107d 100644
--- a/doxygen/doxygen.conf
+++ b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 6.3.0
+PROJECT_NUMBER = 6.3.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
index bac244778..31290e336 100644
--- a/protocol/clproto_cpp/CMakeLists.txt
+++ b/protocol/clproto_cpp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 6.3.0)
+project(clproto VERSION 6.3.1)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/python/setup.py b/python/setup.py
index 213209c9b..ea27e9e1c 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -9,7 +9,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "6.3.0"
+__version__ = "6.3.1"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index 7fa52f4cb..6fdb00f1c 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 6.3.0)
+project(control_libraries VERSION 6.3.1)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)
@@ -27,6 +27,7 @@ include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 
 find_package(Eigen3 REQUIRED)
+set(EIGEN_MPL2_ONLY 1)
 
 if(BUILD_TESTING)
   enable_testing()
diff --git a/source/install.sh b/source/install.sh
index 0d0c425df..0ba72d930 100755
--- a/source/install.sh
+++ b/source/install.sh
@@ -96,7 +96,7 @@ if [ "${INSTALLED_EIGEN::4}" != "${EIGEN_VERSION::4}" ]; then
   echo ">>> INSTALLING EIGEN"
   mkdir -p "${SOURCE_PATH}"/tmp/lib && cd "${SOURCE_PATH}"/tmp/lib || exit 1
   wget -c "https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_VERSION}/eigen-${EIGEN_VERSION}.tar.gz" -O - | tar -xz || exit 1
-  cd "eigen-${EIGEN_VERSION}" && mkdir -p build && cd build && cmake .. && make install || exit 1
+  cd "eigen-${EIGEN_VERSION}" && mkdir -p build && cd build && env CXXFLAGS=-DEIGEN_MPL2_ONLY cmake .. && make install || exit 1
 fi
 EIGEN_PATH=$(cmake --find-package -DNAME=Eigen3 -DCOMPILER_ID=GNU -DLANGUAGE=C -DMODE=COMPILE)
 if [ "${EIGEN_PATH::14}" != "-I/usr/include" ]; then