diff --git a/sophus_pybind/bindings.cpp b/sophus_pybind/bindings.cpp
index cb9d5e99..4b0a12e3 100644
--- a/sophus_pybind/bindings.cpp
+++ b/sophus_pybind/bindings.cpp
@@ -1,3 +1,40 @@
+#include <sophus/interpolate.hpp>
 #include "SophusPyBind.h"
 
-PYBIND11_MODULE(sophus_pybind, m) { Sophus::exportSophus(m); }
+namespace py = pybind11;
+
+PYBIND11_MODULE(sophus_pybind, m) {
+  Sophus::exportSophus(m);
+
+  m.def(
+      "interpolate",
+      [](Sophus::SE3d const& a, Sophus::SE3d const& b, double t) {
+        return Sophus::interpolate(a, b, t);
+      },
+      py::arg("a"), py::arg("b"), py::arg("t"),
+      "Interpolates between two SE3 poses");
+
+  m.def(
+      "interpolate",
+      [](Sophus::SO3d const& a, Sophus::SO3d const& b, double t) {
+        return Sophus::interpolate(a, b, t);
+      },
+      py::arg("a"), py::arg("b"), py::arg("t"),
+      "Interpolates between two SO3 rotations");
+
+  m.def(
+      "interpolate",
+      [](Sophus::SE2d const& a, Sophus::SE2d const& b, double t) {
+        return Sophus::interpolate(a, b, t);
+      },
+      py::arg("a"), py::arg("b"), py::arg("t"),
+      "Interpolates between two SE2 poses");
+
+  m.def(
+      "interpolate",
+      [](Sophus::SO2d const& a, Sophus::SO2d const& b, double t) {
+        return Sophus::interpolate(a, b, t);
+      },
+      py::arg("a"), py::arg("b"), py::arg("t"),
+      "Interpolates between two SO2 rotations");
+}