diff --git a/Utilities/Doxygen/CMakeLists.txt b/Utilities/Doxygen/CMakeLists.txt
index 05d96781209..3f56ffbe320 100644
--- a/Utilities/Doxygen/CMakeLists.txt
+++ b/Utilities/Doxygen/CMakeLists.txt
@@ -109,12 +109,9 @@ mark_as_advanced(
   ITK_DOXYGEN_XML
   ITK_DOXYGEN_SERVER_BASED_SEARCH)
 
-find_package(Perl)
+if(Python3_EXECUTABLE)
+  set(ITK_DOXYGEN_INPUT_FILTER "${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/itkgroup.py")
 
-if(PERL_FOUND)
-  set(ITK_DOXYGEN_INPUT_FILTER "${PERL_EXECUTABLE} ${ITK_BINARY_DIR}/Utilities/Doxygen/itkdoxygen.pl")
-
-  configure_file(${ITK_SOURCE_DIR}/Utilities/Doxygen/itkdoxygen.pl.in ${ITK_BINARY_DIR}/Utilities/Doxygen/itkdoxygen.pl)
 else()
   set(ITK_DOXYGEN_INPUT_FILTER)
 endif()
diff --git a/Utilities/Doxygen/itkdoxygen.pl.in b/Utilities/Doxygen/itkdoxygen.pl.in
deleted file mode 100644
index f5c6f2a870a..00000000000
--- a/Utilities/Doxygen/itkdoxygen.pl.in
+++ /dev/null
@@ -1,9 +0,0 @@
-# for vxl files run the vxl_doxy.pl script, and use itkgroup.pl for all other files
-if ( $ARGV[0] =~ /(vxl|vcl|vnl)/)
-{
-    system ("perl @ITK_SOURCE_DIR@/Utilities/Doxygen/vxl_doxy.pl $ARGV[0]");
-}
-else
-{
-    system ("perl @ITK_SOURCE_DIR@/Utilities/Doxygen/itkgroup.pl $ARGV[0]");
-}
diff --git a/Utilities/Doxygen/itkgroup.pl b/Utilities/Doxygen/itkgroup.pl
deleted file mode 100644
index 1e669538635..00000000000
--- a/Utilities/Doxygen/itkgroup.pl
+++ /dev/null
@@ -1,89 +0,0 @@
-# if regular doxycomment add a @{
-# at next empty line add a //@}
-
-$ingroup = 0;
-$semicount =0;
-$endbracecount = 0;
-$endparencount = 0;
-$leading_space = "  ";
-while(<>)
-{
-    chomp;
-    $line = $_;
-    # if the line is not an empty line
-    if( $line =~ /\S+/ )
-    {
-        if ( /\/\*\*(.*)/ )
-        {
-            # I guess it was not a group, dump savebuffer
-            if($ingroup)
-            {
-                print $leading_space . "/**" . $savebuffer . "\n";
-            }
-            # if it is a class or brief then output the line but
-            # do not start a group
-            if ( /(\\class|\\brief)/ )
-            {
-                print $line . "\n";
-            }
-            # must be a group so start saving
-            else
-            {
-
-                $savebuffer = "$1" . "\n";
-                $ingroup = 1;
-                $semicount = 0;
-                $endbracecount = 0;
-                $endparencount = 0;
-
-                $line =~ /(^\s*)/;
-                $leading_space = $1;
-            }
-        }
-        else
-        {
-            # add to save buffer if in group
-            if($ingroup)
-            {
-                $savebuffer = $savebuffer . $_ . "\n";
-            }
-            else
-            {
-                # non empty line that is not the start of a doxy comment
-                print $_ . "\n";
-            }
-        }
-        if($line =~ /;/ )
-        {
-            $semicount = $semicount + 1;
-        }
-        if($line =~ /\}/ )
-        {
-            $endbracecount = $endbracecount + 1;
-        }
-        if($line =~ /\)/ )
-        {
-            $endparencount = $endparencount + 1;
-        }
-    }
-    else
-    {
-        if($ingroup)
-        {
-            if($endparencount > 1 && ($semicount > 1 || $endbracecount > 1))
-            {
-                print $leading_space . "/**@\{" . $savebuffer . $leading_space . "/**@}*/\n\n";
-            }
-            else
-            {
-                print $leading_space . "/**" . $savebuffer . "\n";
-            }
-            $savebuffer = "";
-            $ingroup = 0;
-        }
-        else
-        {
-            print $line . "\n";
-        }
-    }
-}
diff --git a/Utilities/Doxygen/itkgroup.py b/Utilities/Doxygen/itkgroup.py
new file mode 100755
index 00000000000..208142828d0
--- /dev/null
+++ b/Utilities/Doxygen/itkgroup.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+#
+#  Copyright NumFOCUS
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#         https://www.apache.org/licenses/LICENSE-2.0.txt
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+# Add Doxygen grouping markers to a doxygen comment block, until an empty line is found. This groups multiple
+# functions/variables not separated by a newline, into a single doxygen group with the same doxygen comment.
+
+
+import re
+import sys
+
+ingroup = False
+semicount = 0
+endbracecount = 0
+endparencount = 0
+leading_space = "  "
+savebuffer = ""
+
+
+def process_line(line: str):
+    global ingroup, semicount, endbracecount, endparencount, leading_space, savebuffer
+
+    line = line.rstrip()
+    if re.search(r"\S+", line):
+        match = re.search(r"/\*\*(.*)", line)
+        if match:
+            if ingroup:
+                print(f"{leading_space}/**{savebuffer}")
+            if re.search(r"(\\class|\\brief)", line):
+                print(line)
+            else:
+                savebuffer = f"{match.group(1)}\n"
+                ingroup = True
+                semicount = 0
+                endbracecount = 0
+                endparencount = 0
+                leading_space = re.match(r"(^\s*)", line).group(1)
+        else:
+            if ingroup:
+                savebuffer += f"{line}\n"
+            else:
+                print(line)
+        if re.search(r";", line):
+            semicount += 1
+        if re.search(r"\}", line):
+            endbracecount += 1
+        if re.search(r"\)", line):
+            endparencount += 1
+    else:
+        if ingroup:
+            if endparencount > 1 and (semicount > 1 or endbracecount > 1):
+                print(f"{leading_space}/**@{{{savebuffer}{leading_space}/**@}}*/\n")
+            else:
+                print(f"{leading_space}/**{savebuffer}")
+            savebuffer = ""
+            ingroup = False
+        else:
+            print(line)
+
+
+if __name__ == "__main__":
+    if len(sys.argv) != 2:
+        print("Usage: python itkgroup.py <filename>")
+        sys.exit(1)
+
+    filename = sys.argv[1]
+    with open(filename) as file:
+        for line in file:
+            process_line(line)