We report single-mode midinfrared laser beam delivery through a 50-cm-long tapered hollow-core waveguide (HCW) having bore diameter linearly increasing from 200 to 260  μm. We performed theoretical calculations to identify the best HCW-laser coupling conditions in terms of optical losses and single-mode fiber output. To validate our modeling, we coupled the HCW with an interband cascade laser and four quantum cascade lasers with their emission wavelengths spanning 3.5 to 7.8  μm, using focusing lenses with different focal lengths. With the best coupling conditions, we achieved single-mode output in the investigated 3.5 to 7.8  μm spectral range, with minimum transmission losses of 1.27 dB at 6.2  μm.