diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
index b54b710b1737..d8147e05419e 100644
--- a/setup/mac/binary_distribution/Brewfile
+++ b/setup/mac/binary_distribution/Brewfile
@@ -25,6 +25,7 @@ brew 'msgpack-cxx'
 brew 'openblas'
 brew 'pkg-config'
 brew 'python@3.9'
+brew 'python-tk@3.9'
 brew 'scipy'
 brew 'spdlog'
 brew 'suite-sparse'
diff --git a/setup/ubuntu/binary_distribution/packages-focal.txt b/setup/ubuntu/binary_distribution/packages-focal.txt
index 428caf5f2ee2..9dc041a49dd6 100644
--- a/setup/ubuntu/binary_distribution/packages-focal.txt
+++ b/setup/ubuntu/binary_distribution/packages-focal.txt
@@ -58,6 +58,7 @@ python3-pil
 python3-pydot
 python3-pygame
 python3-scipy
+python3-tk
 python3-tornado
 python3-u-msgpack
 python3-yaml