diff --git a/.bazeliskrc b/.bazeliskrc
new file mode 100644
index 000000000..69d616437
--- /dev/null
+++ b/.bazeliskrc
@@ -0,0 +1,2 @@
+# See https://github.com/bazelbuild/bazelisk
+USE_BAZEL_VERSION=latest
diff --git a/.bazelrc b/.bazelrc
new file mode 100644
index 000000000..f2d06137d
--- /dev/null
+++ b/.bazelrc
@@ -0,0 +1,12 @@
+common --enable_bzlmod
+common --lockfile_mode=off
+
+# Add C++17 compiler flags.
+build --cxxopt=-std=c++17
+build --host_cxxopt=-std=c++17
+
+build --force_pic
+build --strip=never
+build --strict_system_includes
+build --fission=dbg
+build --features=per_object_debug_info
diff --git a/.gitignore b/.gitignore
index 5eca50293..400bd5c4f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,7 @@ build_*
 
 # Python generaated files
 *.pyc
+
+# Bazel generated files
+bazel-*
+
diff --git a/BUILD.bazel b/BUILD.bazel
index b89cd10a1..fe8dd4066 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -1,25 +1,20 @@
-load(
-    "@gz//bazel/skylark:build_defs.bzl",
-    "GZ_FEATURES",
-    "GZ_ROOT",
-    "GZ_VISIBILITY",
-    "gz_configure_header",
-    "gz_export_header",
-    "gz_include_header",
-)
-load(
-    "@gz//bazel/lint:lint.bzl",
-    "add_lint_tests",
-)
+load("@buildifier_prebuilt//:rules.bzl", "buildifier", "buildifier_test")
+load("@rules_gz//gz:headers.bzl", "gz_configure_header", "gz_export_header", "gz_include_header")
+load("@rules_license//rules:license.bzl", "license")
 
 package(
-    default_visibility = GZ_VISIBILITY,
-    features = GZ_FEATURES,
+    default_applicable_licenses = [":license"],
 )
 
-licenses(["notice"])  # Apache-2.0
+license(
+    name = "license",
+    package_name = "gz-math",
+)
 
-exports_files(["LICENSE"])
+exports_files([
+    "LICENSE",
+    "MODULE.bazel",
+])
 
 gz_configure_header(
     name = "config",
@@ -49,11 +44,11 @@ sources = glob(
 )
 
 gz_include_header(
-    name = "mathhh_genrule",
+    name = "math_hh_genrule",
     out = "include/gz/math.hh",
     hdrs = public_headers_no_gen + [
-        "include/gz/math/config.hh",
         "include/gz/math/Export.hh",
+        "include/gz/math/config.hh",
     ],
 )
 
@@ -64,15 +59,18 @@ public_headers = public_headers_no_gen + [
 ]
 
 cc_library(
-    name = "math",
+    name = "gz-math",
     srcs = sources + private_headers,
     hdrs = public_headers,
+    copts = ["-fexceptions"],
     includes = ["include"],
+    visibility = ["//visibility:public"],
     deps = [
-        GZ_ROOT + "utils",
+        "@gz-utils",
     ],
 )
 
+# Tests
 test_sources = glob(
     [
         "src/*_TEST.cc",
@@ -84,10 +82,24 @@ test_sources = glob(
     name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
     srcs = [src],
     deps = [
-        ":math",
-        "@gtest",
-        "@gtest//:gtest_main",
+        ":gz-math",
+        "@googletest//:gtest_main",
     ],
 ) for src in test_sources]
 
-add_lint_tests()
+# Bazel linting
+buildifier(
+    name = "buildifier.fix",
+    exclude_patterns = ["./.git/*"],
+    lint_mode = "fix",
+    mode = "fix",
+)
+
+buildifier_test(
+    name = "buildifier.test",
+    exclude_patterns = ["./.git/*"],
+    lint_mode = "warn",
+    mode = "diff",
+    no_sandbox = True,
+    workspace = "//:MODULE.bazel",
+)
diff --git a/MODULE.bazel b/MODULE.bazel
new file mode 100644
index 000000000..220b7418c
--- /dev/null
+++ b/MODULE.bazel
@@ -0,0 +1,15 @@
+## MODULE.bazel
+module(
+    name = "gz-math",
+    repo_name = "org_gazebosim_gz-math",
+)
+
+bazel_dep(name = "buildifier_prebuilt", version = "6.1.2")
+bazel_dep(name = "googletest", version = "1.14.0")
+bazel_dep(name = "rules_license", version = "0.0.8")
+
+bazel_dep(name = "eigen", version = "3.4.0")
+
+# Gazebo dependencies
+bazel_dep(name = "rules_gz")
+bazel_dep(name = "gz-utils")
diff --git a/WORKSPACE.bazel b/WORKSPACE.bazel
new file mode 100644
index 000000000..e69de29bb
diff --git a/eigen3/BUILD.bazel b/eigen3/BUILD.bazel
index 2b3ba9537..d258fdfce 100644
--- a/eigen3/BUILD.bazel
+++ b/eigen3/BUILD.bazel
@@ -1,26 +1,35 @@
-load(
-    "@gz//bazel/skylark:build_defs.bzl",
-    "GZ_FEATURES",
-    "GZ_ROOT",
-    "GZ_VISIBILITY",
-    "gz_configure_header",
-    "gz_export_header",
-    "gz_include_header",
+load("@rules_gz//gz:headers.bzl", "gz_include_header")
+load("@rules_license//rules:license.bzl", "license")
+
+package(
+    default_applicable_licenses = [":license"],
+)
+
+license(
+    name = "license",
+    package_name = "gz-math-eigen3",
 )
 
 public_headers = glob([
     "include/gz/math/eigen3/*.hh",
 ])
 
+gz_include_header(
+    name = "eigen3_hh_genrule",
+    out = "include/gz/math/eigen3.hh",
+    hdrs = public_headers,
+)
+
 cc_library(
     name = "eigen3",
     srcs = public_headers,
-    hdrs = public_headers,
+    hdrs = public_headers + [
+        "include/gz/math/eigen3.hh",
+    ],
     includes = ["include"],
-    visibility = GZ_VISIBILITY,
     deps = [
-        GZ_ROOT + "math",
-        "@eigen3",
+        "//:gz-math",
+        "@eigen",
     ],
 )
 
@@ -35,7 +44,6 @@ test_sources = glob(
     srcs = [src],
     deps = [
         ":eigen3",
-        "@gtest",
-        "@gtest//:gtest_main",
+        "@googletest//:gtest_main",
     ],
 ) for src in test_sources]
diff --git a/examples/BUILD.bazel b/examples/BUILD.bazel
deleted file mode 100644
index c3902e6a3..000000000
--- a/examples/BUILD.bazel
+++ /dev/null
@@ -1,23 +0,0 @@
-load(
-    "@gz//bazel/skylark:build_defs.bzl",
-    "GZ_ROOT",
-    "GZ_VISIBILITY",
-)
-load(
-    "@gz//bazel/lint:lint.bzl",
-    "add_lint_tests",
-)
-
-sources = glob(
-    ["*.cc"],
-)
-
-[cc_binary(
-    name = src.replace(".cc", ""),
-    srcs = [src],
-    deps = [
-        GZ_ROOT + "math",
-    ],
-) for src in sources]
-
-add_lint_tests()
diff --git a/test/BUILD.bazel b/test/BUILD.bazel
index 9000f4abc..e69de29bb 100644
--- a/test/BUILD.bazel
+++ b/test/BUILD.bazel
@@ -1,13 +0,0 @@
-load(
-    "@gz//bazel/skylark:build_defs.bzl",
-    "GZ_FEATURES",
-    "GZ_VISIBILITY",
-)
-load(
-    "@gz//bazel/lint:lint.bzl",
-    "add_lint_tests",
-)
-
-# Currently test directory only applies to CMake builds
-
-add_lint_tests()