Under the agreed terms, KMW will provide seven Leguan bridge laying systems for Leopard 2 tanks, as well as transport systems, training simulators and ancillary equipment.
The total order amounts to around €88m, and deliveries under the deal will take place between 2018 and 2021.
Leopard 2 has its driving compartment at the front, the fighting section in the centre, and the engine at the vehicle's rear.
It offers ammunition storage, and cameras on the back of the tank provide a reversing aid for the driver.
The Leguan system is capable of transporting and laying one 26m-long bridge or two bridges with a length of 14m each, KMW said in a statement.
It will allow the Bundeswehr to cross water obstacles and gaps in terrain, even with heavy machinery.
Five nations are currently using Leguan with the Leopard 2, while 17 countries have installed the system on different mobility platforms.