diff --git a/Sofa/framework/Helper/CMakeLists.txt b/Sofa/framework/Helper/CMakeLists.txt
index a3f30be4a4e..fe63cb5c9de 100644
--- a/Sofa/framework/Helper/CMakeLists.txt
+++ b/Sofa/framework/Helper/CMakeLists.txt
@@ -10,6 +10,22 @@ sofa_find_package(STB REQUIRED)
 # DiffLib (header only)
 sofa_find_package(DiffLib REQUIRED)
 
+# taskflow
+sofa_find_package(Taskflow)
+if(NOT Taskflow_FOUND AND SOFA_ALLOW_FETCH_DEPENDENCIES)
+    message("Sofa.Helper: DEPENDENCY Taskflow NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching Taskflow...")
+
+    sofa_fetch_dependency(Taskflow
+        GIT_REPOSITORY https://github.com/taskflow/taskflow.git
+        GIT_TAG        v3.10.0
+        DONT_BUILD
+    )
+
+    set(TASKFLOW_ROOT ${Taskflow_SOURCE_DIR})
+    sofa_find_package(Taskflow REQUIRED)
+elseif (NOT Taskflow_FOUND)
+    message(FATAL_ERROR "Sofa.Helper: DEPENDENCY Taskflow NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install Taskflow, or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.")
+endif()
 
 set(SRC_ROOT "src/sofa/helper")
 
@@ -46,6 +62,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/SortedPermutation.h
     ${SRC_ROOT}/StringUtils.h
     ${SRC_ROOT}/TagFactory.h
+    ${SRC_ROOT}/taskflow.h
     ${SRC_ROOT}/TriangleOctree.h
     ${SRC_ROOT}/Utils.h
     ${SRC_ROOT}/accessor.h
@@ -257,6 +274,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "$<BUILD_INTERFACE:${ST
 # DiffLib (header only)
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "$<BUILD_INTERFACE:${difflib_INCLUDE_DIR}>")
 
+# taskflow (header only)
+target_link_libraries(${PROJECT_NAME} PUBLIC Taskflow::Taskflow)
+
 set(is_release "$<CONFIG:RELEASE>")
 set(is_debug "$<CONFIG:DEBUG>")
 set(is_relwithdebinfo "$<CONFIG:RELWITHDEBINFO>")
diff --git a/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in b/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in
index 72532cdfcbb..3fc4ebc6b2a 100644
--- a/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in
+++ b/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in
@@ -9,6 +9,10 @@ sofa_find_package(Sofa.Topology QUIET REQUIRED)
 
 sofa_find_package(Eigen3 QUIET REQUIRED)
 
+if(NOT TARGET Taskflow::Taskflow)
+    sofa_find_package(Taskflow QUIET REQUIRED)
+endif()
+
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
 endif()
diff --git a/Sofa/framework/Helper/src/sofa/helper/taskflow.h b/Sofa/framework/Helper/src/sofa/helper/taskflow.h
new file mode 100644
index 00000000000..32a010d1e76
--- /dev/null
+++ b/Sofa/framework/Helper/src/sofa/helper/taskflow.h
@@ -0,0 +1,23 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <taskflow/taskflow.hpp>
diff --git a/cmake/Modules/FindTaskflow.cmake b/cmake/Modules/FindTaskflow.cmake
new file mode 100644
index 00000000000..0fdcd199f2d
--- /dev/null
+++ b/cmake/Modules/FindTaskflow.cmake
@@ -0,0 +1,50 @@
+# Set Taskflow_FOUND to false initially
+set(Taskflow_FOUND FALSE)
+
+
+# Specify the Taskflow include directory and library
+find_path(Taskflow_INCLUDE_DIR
+    NAMES taskflow/taskflow.hpp
+    HINTS "${TASKFLOW_ROOT}"
+)
+
+# If both the include directory are found, set Taskflow_FOUND to true
+if(Taskflow_INCLUDE_DIR)
+    set(Taskflow_FOUND TRUE)
+
+    # Read the content of the taskflow.hpp file
+    file(READ "${Taskflow_INCLUDE_DIR}/taskflow/taskflow.hpp" file_contents)
+
+    # Use a regular expression to extract the version number
+    string(REGEX MATCH "#define TF_VERSION [0-9]+" version_line "${file_contents}")
+
+    # Extract the numeric part of the version
+    string(REGEX REPLACE "#define TF_VERSION " "" version_number "${version_line}")
+
+    # Split the version number into major, minor, and patch components
+    # Taskflow uses a version format like 300900 for 3.9.0
+    math(EXPR major_version "${version_number} / 100000")
+    math(EXPR minor_version "(${version_number} % 100000) / 100")
+    math(EXPR patch_version "${version_number} % 100")
+
+    # Format the version as X.Y.Z
+    set(formatted_version "${major_version}.${minor_version}.${patch_version}")
+
+    # Set the output variable
+    set(Taskflow_VERSION "${formatted_version}")
+
+    if(NOT TARGET Taskflow::Taskflow)
+        add_library(Taskflow::Taskflow INTERFACE IMPORTED)
+        set_target_properties(Taskflow::Taskflow PROPERTIES
+                INTERFACE_INCLUDE_DIRECTORIES "${Taskflow_INCLUDE_DIR}")
+    endif ()
+
+    # Handle REQUIRED and QUIET options
+    include(FindPackageHandleStandardArgs)
+    find_package_handle_standard_args(Taskflow
+        REQUIRED_VARS Taskflow_FOUND Taskflow_INCLUDE_DIR
+        VERSION_VAR Taskflow_VERSION
+    )
+
+    mark_as_advanced(Taskflow_INCLUDE_DIR)
+endif()