diff --git a/src/Gui/CommandView.cpp b/src/Gui/CommandView.cpp
index b292d152fb..e63e66e250 100644
--- a/src/Gui/CommandView.cpp
+++ b/src/Gui/CommandView.cpp
@@ -3990,16 +3990,22 @@ void StdCmdClarifySelection::activated(int iMsg)
         return;
     }
 
-    // Get cursor position in the viewer
-    QPoint pos = QCursor::pos();
     QWidget* widget = viewer->getGLWidget();
     if (!widget) {
         return;
     }
 
-    QPoint local = widget->mapFromGlobal(pos);
-    SbVec2s point(static_cast<short>(local.x()),
-                  static_cast<short>(widget->height() - local.y() - 1));
+    // check if we have a stored right-click position (context menu) or should use current cursor position (keyboard shortcut)
+    SbVec2s point;
+    auto& storedPosition = viewer->navigationStyle()->getRightClickPosition();
+    if (storedPosition.has_value()) {
+        point = storedPosition.value();
+    } else {
+        QPoint pos = QCursor::pos();
+        QPoint local = widget->mapFromGlobal(pos);
+        point = SbVec2s(static_cast<short>(local.x()),
+                        static_cast<short>(widget->height() - local.y() - 1));
+    }
     
     // Use ray picking to get all objects under cursor
     SoRayPickAction pickAction(viewer->getSoRenderManager()->getViewportRegion());
@@ -4063,9 +4069,16 @@ void StdCmdClarifySelection::activated(int iMsg)
         return;
     }
     
+    QPoint globalPos;
+    if (storedPosition.has_value()) {
+        globalPos = widget->mapToGlobal(QPoint(point[0], widget->height() - point[1] - 1));
+    } else {
+        globalPos = QCursor::pos();
+    }
+
     // Use SelectionMenu to display and handle the pick menu
     SelectionMenu contextMenu(widget);
-    contextMenu.doPick(selections);
+    contextMenu.doPick(selections, globalPos);
 }
 
 bool StdCmdClarifySelection::isActive()
diff --git a/src/Gui/Navigation/NavigationStyle.cpp b/src/Gui/Navigation/NavigationStyle.cpp
index 03c9447438..9c97445e34 100644
--- a/src/Gui/Navigation/NavigationStyle.cpp
+++ b/src/Gui/Navigation/NavigationStyle.cpp
@@ -1024,6 +1024,11 @@ SbVec3f NavigationStyle::getRotationCenter(SbBool& found) const
     return this->rotationCenter;
 }
 
+std::optional<SbVec2s>& NavigationStyle::getRightClickPosition()
+{
+    return rightClickPosition;
+}
+
 void NavigationStyle::setRotationCenter(const SbVec3f& cnt)
 {
     this->rotationCenter = cnt;
@@ -1964,7 +1969,9 @@ void NavigationStyle::applyNavigationStyleChange(QAction* selectedAction)
 
 void NavigationStyle::openPopupMenu(const SbVec2s& position)
 {
-    Q_UNUSED(position);
+    // store the right-click position for potential use by Clarify Selection
+    rightClickPosition = position;
+
     // ask workbenches and view provider, ...
     MenuItem view;
     Gui::Application::Instance->setupContextMenu("View", &view);
@@ -2040,6 +2047,7 @@ void NavigationStyle::openPopupMenu(const SbVec2s& position)
     // handle navigation style change if user selected a navigation style option
     if (selectedAction && isNavigationStyleAction(selectedAction, navMenuGroup)) {
         applyNavigationStyleChange(selectedAction);
+        rightClickPosition.reset();
         return;
     }
 
@@ -2050,6 +2058,8 @@ void NavigationStyle::openPopupMenu(const SbVec2s& position)
             cmd->invoke(0); // required placeholder value - we don't use group command
         }
     }
+
+    rightClickPosition.reset();
 }
 
 PyObject* NavigationStyle::getPyObject()
diff --git a/src/Gui/Navigation/NavigationStyle.h b/src/Gui/Navigation/NavigationStyle.h
index ffa907d7e5..4faf708175 100644
--- a/src/Gui/Navigation/NavigationStyle.h
+++ b/src/Gui/Navigation/NavigationStyle.h
@@ -42,6 +42,7 @@
 #include <Gui/Namespace.h>
 #include <FCGlobal.h>
 #include <memory>
+#include <optional>
 
 // forward declarations
 class SoEvent;
@@ -196,6 +197,8 @@ public:
 
     SbVec3f getRotationCenter(SbBool&) const;
 
+    std::optional<SbVec2s>& getRightClickPosition();
+
     PyObject *getPyObject() override;
 
 protected:
@@ -298,6 +301,10 @@ protected:
 
     Py::SmartPtr pythonObject;
 
+    // store the position where right-click occurred just before
+    // the menu popped up
+    std::optional<SbVec2s> rightClickPosition;
+
 private:
     friend class NavigationAnimator;
 
diff --git a/src/Gui/Selection/SelectionView.cpp b/src/Gui/Selection/SelectionView.cpp
index ddfedad372..93a5f1f986 100644
--- a/src/Gui/Selection/SelectionView.cpp
+++ b/src/Gui/Selection/SelectionView.cpp
@@ -728,7 +728,7 @@ struct SubMenuInfo {
     std::map<std::string, std::map<std::string, ElementInfo>> items;
 };
 
-PickData SelectionMenu::doPick(const std::vector<PickData> &sels)
+PickData SelectionMenu::doPick(const std::vector<PickData> &sels, const QPoint& pos)
 {
     clear();
     Gui::Selection().setClarifySelectionActive(true);
@@ -739,7 +739,7 @@ PickData SelectionMenu::doPick(const std::vector<PickData> &sels)
     processSelections(currentSelections, menus);
     buildMenuStructure(menus, currentSelections);
 
-    QAction* picked = this->exec(QCursor::pos());
+    QAction* picked = this->exec(pos);
     return onPicked(picked, currentSelections);
 }
 
diff --git a/src/Gui/Selection/SelectionView.h b/src/Gui/Selection/SelectionView.h
index dfd365bb70..f051c14ebd 100644
--- a/src/Gui/Selection/SelectionView.h
+++ b/src/Gui/Selection/SelectionView.h
@@ -140,11 +140,12 @@ public:
     /** Populate and show the menu for picking geometry elements.
      *
      * @param sels: a list of geometry element references
+     * @param pos: optional position to show the menu (defaults to current cursor position)
      * @return Return the picked geometry reference
      *
      * The menu will be divided into submenus that are grouped by element type.
      */
-    PickData doPick(const std::vector<PickData> &sels);
+    PickData doPick(const std::vector<PickData> &sels, const QPoint& pos = QCursor::pos());
 
 public Q_SLOTS:
     void onHover(QAction *);