  We analyze a microscopic origin of the Kondo effect-assisted orbital order in
heavy-fermion materials. By studying the periodic two-orbital Anderson model
with two local electrons, we show that frustration of Hund's rule coupling due
to the Kondo effect leads to an incommensurate spiral orbital and magnetic
order, which exists only inside the Kondo screened (heavy-electron) phase. This
spiral state can be observed in neutron and resonant X-ray scattering
measurements in ${\rm U}$- and ${\rm Pr}$-based heavy-fermion compounds, and
realized in cold atomic gases, e.g. fermionic ${}^{173}{\rm Yb}$.
