The associated production of a Higgs boson with a top quark-antiquark pair ($\rm t\bar{t}H$) or with a single top quark ($\rm tH$) allows the direct measurement of the top-Higgs Yukawa coupling. In this article, recent searches for $\rm t\bar{t}H$ and $\rm tH$ production at the CMS experiment are reviewed. The analyses use pp collision data collected at a center-of-mass energy of 13 TeV corresponding to an integrated luminosity of up to 77.4 $\rm fb^{-1}$.