diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index 9e1e8b05e..4f499d19f 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -3,9 +3,10 @@ cmake_minimum_required(VERSION 3.5)
 project(rcl_yaml_param_parser)
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(yaml REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rcl REQUIRED)
+find_package(libyaml_vendor REQUIRED)
+find_package(yaml REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index 2cd681daa..4a86e30d5 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <depend>libyaml_vendor</depend>
   <depend>yaml</depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rcl</build_depend>