The municipal area is located south of the main crest of the Rothaargebirge, and borders in the north on the towns of Bad Berleburg and Erndtebrück, in the east on the town of Biedenkopf in Hessen, in the southeast on Breidenbach, in the south on Dietzhölztal and in the west on the town of Netphen.
Eschenburg borders in the north on the communities of Dietzhölztal (Lahn-Dill-Kreis) and Breidenbach, in the east on the communities of Steffenberg and Angelburg (all three in Marburg-Biedenkopf), in the south on the community of Siegbach, in the southwest on the town of Dillenburg, and in the west on the town of Haiger (all in the Lahn-Dill-Kreis).