Mauritania introduced HPV vaccination in March 2021 after delays due to global vaccine shortages and COVID-19. Using a two-dose quadrivalent vaccine, the first national campaign targeted girls aged 9–14, achieving 44% coverage; subsequent catch-up efforts raised first-dose coverage to 69.6% and second-dose to 29.9%. A multi-level stakeholder engagement structure—national, regional, and community—was established, involving ministries, parent associations, and NGOs. Key challenges included concurrent health campaigns, limited training of health workers, and difficulty reaching out-of-school girls. Lessons highlight the need for better integration into routine services, enhanced community mobilization, and continuous health worker training to sustain coverage gains.