diff --git a/MODULE.bazel b/MODULE.bazel
index 75e808f0..17190ecb 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -8,7 +8,6 @@ bazel_dep(name = "googletest", version = "1.14.0.bcr.1")
 bazel_dep(name = "lz4", version = "1.9.4")
 bazel_dep(name = "nlohmann_json", version = "3.11.3")
 bazel_dep(name = "platforms", version = "0.0.8")
-bazel_dep(name = "pybind11_bazel", version = "2.11.1.bzl.1")
 bazel_dep(name = "readerwriterqueue", version = "1.0.6")
 bazel_dep(name = "rules_cc", version = "0.0.9")
 bazel_dep(name = "rules_foreign_cc", version = "0.10.1")
@@ -57,10 +56,6 @@ pip.parse(
 )
 use_repo(pip, "rules_ros2_resolver_deps")
 
-python_configure = use_extension("@pybind11_bazel//:python_configure.bzl", "extension")
-python_configure.toolchain(python_version = "3")
-use_repo(python_configure, "local_config_python", "pybind11")
-
 non_module_deps = use_extension("@com_github_mvukov_rules_ros2//:extensions.bzl", "non_module_deps")
 use_repo(
     non_module_deps,
@@ -68,6 +63,7 @@ use_repo(
     "foxglove_bridge",
     "iceoryx",
     "osrf_pycommon",
+    "pybind11",
     "ros2_ament_cmake_ros",
     "ros2_ament_index",
     "ros2_class_loader",
diff --git a/WORKSPACE b/WORKSPACE
index 654cb5df..fd88e2a4 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -37,13 +37,6 @@ load(
 
 install_rules_ros2_pip_deps()
 
-load("@pybind11_bazel//:python_configure.bzl", "python_configure")
-
-python_configure(
-    name = "local_config_python",
-    python_interpreter_target = python_interpreter_target,
-)
-
 # Below are internal deps.
 
 pip_parse(
diff --git a/repositories/pybind11.BUILD.bazel b/repositories/pybind11.BUILD.bazel
new file mode 100644
index 00000000..b542963f
--- /dev/null
+++ b/repositories/pybind11.BUILD.bazel
@@ -0,0 +1,12 @@
+""" Builds pybind11.
+"""
+
+load("@rules_cc//cc:defs.bzl", "cc_library")
+
+cc_library(
+    name = "pybind11",
+    hdrs = glob(["include/pybind11/**/*.h"]),
+    includes = ["include"],
+    visibility = ["//visibility:public"],
+    deps = ["@rules_python//python/cc:current_py_cc_headers"],
+)
diff --git a/repositories/repositories.bzl b/repositories/repositories.bzl
index d542062d..18e299f1 100644
--- a/repositories/repositories.bzl
+++ b/repositories/repositories.bzl
@@ -102,22 +102,6 @@ def rules_ros2_workspace_deps():
         urls = ["https://github.com/leethomason/tinyxml2/archive/refs/tags/9.0.0.tar.gz"],
     )
 
-    maybe(
-        http_archive,
-        name = "pybind11_bazel",
-        sha256 = "56397b31ab55eb151e45d4e0a6b28d90a854290728595607c9a04d0ffee05c49",
-        strip_prefix = "pybind11_bazel-2.11.1.bzl.1",
-        urls = ["https://github.com/pybind/pybind11_bazel/releases/download/v2.11.1.bzl.1/pybind11_bazel-2.11.1.bzl.1.tar.gz"],
-    )
-    maybe(
-        http_archive,
-        name = "pybind11",
-        build_file = "@pybind11_bazel//:pybind11.BUILD",
-        sha256 = "d475978da0cdc2d43b73f30910786759d593a9d8ee05b1b6846d1eb16c6d2e0c",
-        strip_prefix = "pybind11-2.11.1",
-        urls = ["https://github.com/pybind/pybind11/archive/refs/tags/v2.11.1.tar.gz"],
-    )
-
     maybe(
         http_archive,
         name = "readerwriterqueue",
@@ -165,6 +149,18 @@ def rules_ros2_workspace_deps():
 
 def ros2_repositories():
     """Import external/third-party build http_archive dependencies."""
+
+    # Move pybind stuff to rules_ros2_workspace_deps() and configure in MODULE.bazel
+    # once https://github.com/pybind/pybind11_bazel/issues/66 is resolved.
+    maybe(
+        http_archive,
+        name = "pybind11",
+        build_file = "@com_github_mvukov_rules_ros2//repositories:pybind11.BUILD.bazel",
+        sha256 = "d475978da0cdc2d43b73f30910786759d593a9d8ee05b1b6846d1eb16c6d2e0c",
+        strip_prefix = "pybind11-2.11.1",
+        urls = ["https://github.com/pybind/pybind11/archive/refs/tags/v2.11.1.tar.gz"],
+    )
+
     maybe(
         http_archive,
         name = "libyaml",