diff --git a/CHANGELOG.md b/CHANGELOG.md
index 84482d1624..0eed4e63d0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 - Added the possibility to set the alpha channel while loading a model in the meshcat visualizer (https://github.com/robotology/idyntree/pull/1033).
 - Add the possibility to pass the list containing the mesh path while building the model (https://github.com/robotology/idyntree/pull/1036).
+- Enable implicit conversion and change KinDynComputations holder in the iDynTree bindings (https://github.com/robotology/idyntree/pull/1037).
 
 ## [7.0.0] - 2022-08-31
 
diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i
index 2f7d5091c3..d8e3614a88 100644
--- a/bindings/iDynTree.i
+++ b/bindings/iDynTree.i
@@ -1,10 +1,18 @@
 
 /* File : iDynTree.i */
 %module iDynTree
+#ifdef SWIGPYTHON
+%implicitconv;
+#endif
 
 %include "std_string.i"
 %include "std_vector.i"
 
+// std::shared_ptr holder is currently supported only for python bindings
+#ifdef SWIGPYTHON
+%include "std_shared_ptr.i"
+#endif
+
 // Wrap the std::vector<std::string> params
 %template(StringVector) std::vector<std::string>;
 
@@ -298,6 +306,9 @@ namespace std {
 %include "iDynTree/InertialParametersSolidShapesHelpers.h"
 
 // High level interfaces
+#ifdef SWIGPYTHON
+%shared_ptr(iDynTree::KinDynComputations)
+#endif
 %include "iDynTree/KinDynComputations.h"
 
 #ifdef SWIGMATLAB