diff --git a/CHANGELOG.md b/CHANGELOG.md
index 973d1df4..43ca4887 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [4.2.0] - 2026-04-20
+
 ### Added
 
 - Task: Add `ManipulabilityTask` to maximize manipulability of a manipulator (thanks to @danielsanjosepro)
@@ -454,29 +456,30 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Python package infrastructure
 
-[unreleased]: https://github.com/stephane-caron/pink/compare/v4.1.0...HEAD
-[4.1.0]: https://github.com/stephane-caron/pink/compare/v4.0.0...v4.1.0
-[4.0.0]: https://github.com/stephane-caron/pink/compare/v3.5.0...v4.0.0
-[3.5.0]: https://github.com/stephane-caron/pink/compare/v3.4.0...v3.5.0
-[3.4.0]: https://github.com/stephane-caron/pink/compare/v3.3.0...v3.4.0
-[3.3.0]: https://github.com/stephane-caron/pink/compare/v3.2.0...v3.3.0
-[3.2.0]: https://github.com/stephane-caron/pink/compare/v3.1.0...v3.2.0
-[3.1.0]: https://github.com/stephane-caron/pink/compare/v3.0.0...v3.1.0
-[3.0.0]: https://github.com/stephane-caron/pink/compare/v2.1.0...v3.0.0
-[2.1.0]: https://github.com/stephane-caron/pink/compare/v2.0.0...v2.1.0
-[2.0.0]: https://github.com/stephane-caron/pink/compare/v1.1.0...v2.0.0
-[1.1.0]: https://github.com/stephane-caron/pink/compare/v1.0.0...v1.1.0
-[1.0.0]: https://github.com/stephane-caron/pink/compare/v0.11.0...v1.0.0
-[0.11.0]: https://github.com/stephane-caron/pink/compare/v0.10.0...v0.11.0
-[0.10.0]: https://github.com/stephane-caron/pink/compare/v0.9.0....v0.10.0
-[0.9.0]: https://github.com/stephane-caron/pink/compare/v0.8.0...v0.9.0
-[0.8.0]: https://github.com/stephane-caron/pink/compare/v0.7.0...v0.8.0
-[0.7.0]: https://github.com/stephane-caron/pink/compare/v0.6.0...v0.7.0
-[0.6.0]: https://github.com/stephane-caron/pink/compare/v0.5.0...v0.6.0
-[0.5.0]: https://github.com/stephane-caron/pink/compare/v0.4.0...v0.5.0
-[0.4.0]: https://github.com/stephane-caron/pink/compare/v0.3.0...v0.4.0
-[0.3.0]: https://github.com/stephane-caron/pink/compare/v0.2.0...v0.3.0
-[0.2.0]: https://github.com/stephane-caron/pink/compare/v0.1.0...v0.2.0
-[0.1.0]: https://github.com/stephane-caron/pink/compare/v0.0.2...v0.1.0
-[0.0.2]: https://github.com/stephane-caron/pink/compare/v0.0.1...v0.0.2
+[unreleased]: https://github.com/stephane-caron/pink/compare/v4.2.0...HEAD
+[4.2.0]: https://github.com/stephane-caron/pink/releases/tag/v4.2.0
+[4.1.0]: https://github.com/stephane-caron/pink/releases/tag/v4.1.0
+[4.0.0]: https://github.com/stephane-caron/pink/releases/tag/v4.0.0
+[3.5.0]: https://github.com/stephane-caron/pink/releases/tag/v3.5.0
+[3.4.0]: https://github.com/stephane-caron/pink/releases/tag/v3.4.0
+[3.3.0]: https://github.com/stephane-caron/pink/releases/tag/v3.3.0
+[3.2.0]: https://github.com/stephane-caron/pink/releases/tag/v3.2.0
+[3.1.0]: https://github.com/stephane-caron/pink/releases/tag/v3.1.0
+[3.0.0]: https://github.com/stephane-caron/pink/releases/tag/v3.0.0
+[2.1.0]: https://github.com/stephane-caron/pink/releases/tag/v2.1.0
+[2.0.0]: https://github.com/stephane-caron/pink/releases/tag/v2.0.0
+[1.1.0]: https://github.com/stephane-caron/pink/releases/tag/v1.1.0
+[1.0.0]: https://github.com/stephane-caron/pink/releases/tag/v1.0.0
+[0.11.0]: https://github.com/stephane-caron/pink/releases/tag/v0.11.0
+[0.10.0]: https://github.com/stephane-caron/pink/releases/tag/v0.10.0
+[0.9.0]: https://github.com/stephane-caron/pink/releases/tag/v0.9.0
+[0.8.0]: https://github.com/stephane-caron/pink/releases/tag/v0.8.0
+[0.7.0]: https://github.com/stephane-caron/pink/releases/tag/v0.7.0
+[0.6.0]: https://github.com/stephane-caron/pink/releases/tag/v0.6.0
+[0.5.0]: https://github.com/stephane-caron/pink/releases/tag/v0.5.0
+[0.4.0]: https://github.com/stephane-caron/pink/releases/tag/v0.4.0
+[0.3.0]: https://github.com/stephane-caron/pink/releases/tag/v0.3.0
+[0.2.0]: https://github.com/stephane-caron/pink/releases/tag/v0.2.0
+[0.1.0]: https://github.com/stephane-caron/pink/releases/tag/v0.1.0
+[0.0.2]: https://github.com/stephane-caron/pink/releases/tag/v0.0.2
 [0.0.1]: https://github.com/stephane-caron/pink/releases/tag/v0.0.1
diff --git a/CITATION.cff b/CITATION.cff
index b5d5e276..9ba30e5d 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -1,7 +1,7 @@
 cff-version: 1.2.0
 message: "If you find this code helpful, please cite it as below."
 title: "Pink: Python inverse kinematics based on Pinocchio"
-version: 4.1.0
+version: 4.2.0
 date-released: 2026-03-11
 url: "https://github.com/stephane-caron/pink"
 license: "Apache-2.0"
@@ -32,3 +32,6 @@ authors:
 - family-names: "San José Pro"
   given-names: "Daniel"
   orcid: "https://orcid.org/0009-0007-5948-9700"
+- family-names: "Marticorena Vidal"
+  given-names: "Nicolas Guillermo"
+  orcid: "https://orcid.org/0000-0002-4163-2827"
diff --git a/README.md b/README.md
index 98f964a1..786b6b7a 100644
--- a/README.md
+++ b/README.md
@@ -186,10 +186,10 @@ If you use Pink in your scientific works, please cite it *e.g.* as follows:
 ```bibtex
 @software{pink,
   title = {{Pink: Python inverse kinematics based on Pinocchio}},
-  author = {Caron, Stéphane and De Mont-Marin, Yann and Budhiraja, Rohan and Bang, Seung Hyeon and Domrachev, Ivan and Nedelchev, Simeon and Du, Peter and Escande, Adrien and Vaillant, Joris and Wingo, Bruce and Patapati, Santosh and San José Pro, Daniel},
+  author = {Caron, Stéphane and De Mont-Marin, Yann and Budhiraja, Rohan and Bang, Seung Hyeon and Domrachev, Ivan and Nedelchev, Simeon and Du, Peter and Escande, Adrien and Vaillant, Joris and Wingo, Bruce and Patapati, Santosh and San José Pro, Daniel and Marticorena Vidal, Nicolas Guillermo},
   license = {Apache-2.0},
   url = {https://github.com/stephane-caron/pink},
-  version = {4.1.0},
+  version = {4.2.0},
   year = {2026}
 }
 ```
diff --git a/pink/__init__.py b/pink/__init__.py
index db447d9f..0e4c3e7c 100644
--- a/pink/__init__.py
+++ b/pink/__init__.py
@@ -4,6 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 # Copyright 2024 Inria
+# Copyright 2026 CNRS
 
 """Inverse kinematics for articulated robot models, based on Pinocchio."""
 
@@ -20,7 +21,7 @@
 )
 from .utils import custom_configuration_vector
 
-__version__ = "4.1.0"
+__version__ = "4.2.0"
 
 __all__ = [
     "Configuration",