diff --git a/cc/Android.bp b/cc/Android.bp
index be2cc5a..f49dc1a 100644
--- a/cc/Android.bp
+++ b/cc/Android.bp
@@ -9,6 +9,7 @@
         "blueprint",
         "blueprint-pathtools",
         "soong",
+        "soong-aidl-library",
         "soong-android",
         "soong-bazel",
         "soong-cc-config",
@@ -22,7 +23,6 @@
     srcs: [
         "afdo.go",
         "fdo_profile.go",
-
         "androidmk.go",
         "api_level.go",
         "bp2build.go",
diff --git a/cc/bp2build.go b/cc/bp2build.go
index cf5f74d..0f978a5 100644
--- a/cc/bp2build.go
+++ b/cc/bp2build.go
@@ -728,6 +728,8 @@
 	compilerAttrs := compilerAttributes{}
 	linkerAttrs := linkerAttributes{}
 
+	var aidlLibs bazel.LabelList
+
 	// Iterate through these axes in a deterministic order. This is required
 	// because processing certain dependencies may result in concatenating
 	// elements along other axes. (For example, processing NoConfig may result
@@ -743,6 +745,7 @@
 					compilerAttrs.lexopts.SetSelectValue(axis, cfg, baseCompilerProps.Lex.Flags)
 				}
 				(&compilerAttrs).bp2buildForAxisAndConfig(ctx, axis, cfg, baseCompilerProps)
+				aidlLibs.Append(android.BazelLabelForModuleDeps(ctx, baseCompilerProps.Aidl.Libs))
 			}
 
 			var exportHdrs []string
@@ -815,7 +818,14 @@
 	(&linkerAttrs).wholeArchiveDeps.Add(protoDep.wholeStaticLib)
 	(&linkerAttrs).implementationWholeArchiveDeps.Add(protoDep.implementationWholeStaticLib)
 
-	aidlDep := bp2buildCcAidlLibrary(ctx, module, compilerAttrs.aidlSrcs, linkerAttrs)
+	aidlDep := bp2buildCcAidlLibrary(
+		ctx, module,
+		compilerAttrs.aidlSrcs,
+		bazel.LabelListAttribute{
+			Value: aidlLibs,
+		},
+		linkerAttrs,
+	)
 	if aidlDep != nil {
 		if lib, ok := module.linker.(*libraryDecorator); ok {
 			if proptools.Bool(lib.Properties.Aidl.Export_aidl_headers) {
@@ -912,11 +922,15 @@
 func bp2buildCcAidlLibrary(
 	ctx android.Bp2buildMutatorContext,
 	m *Module,
-	aidlLabelList bazel.LabelListAttribute,
+	aidlSrcs bazel.LabelListAttribute,
+	aidlLibs bazel.LabelListAttribute,
 	linkerAttrs linkerAttributes,
 ) *bazel.LabelAttribute {
-	if !aidlLabelList.IsEmpty() {
-		aidlLibs, aidlSrcs := aidlLabelList.Partition(func(src bazel.Label) bool {
+	var aidlLibsFromSrcs, aidlFiles bazel.LabelListAttribute
+	apexAvailableTags := android.ApexAvailableTagsWithoutTestApexes(ctx.(android.TopDownMutatorContext), ctx.Module())
+
+	if !aidlSrcs.IsEmpty() {
+		aidlLibsFromSrcs, aidlFiles = aidlSrcs.Partition(func(src bazel.Label) bool {
 			if fg, ok := android.ToFileGroupAsLibrary(ctx, src.OriginalModuleName); ok &&
 				fg.ShouldConvertToAidlLibrary(ctx) {
 				return true
@@ -924,57 +938,61 @@
 			return false
 		})
 
-		apexAvailableTags := android.ApexAvailableTagsWithoutTestApexes(ctx.(android.TopDownMutatorContext), ctx.Module())
-		sdkAttrs := bp2BuildParseSdkAttributes(m)
-
-		if !aidlSrcs.IsEmpty() {
+		if !aidlFiles.IsEmpty() {
 			aidlLibName := m.Name() + "_aidl_library"
 			ctx.CreateBazelTargetModule(
 				bazel.BazelTargetModuleProperties{
 					Rule_class:        "aidl_library",
 					Bzl_load_location: "//build/bazel/rules/aidl:aidl_library.bzl",
 				},
-				android.CommonAttributes{Name: aidlLibName},
-				&aidlLibraryAttributes{
-					Srcs: aidlSrcs,
+				android.CommonAttributes{
+					Name: aidlLibName,
 					Tags: apexAvailableTags,
 				},
-			)
-			aidlLibs.Add(&bazel.LabelAttribute{Value: &bazel.Label{Label: ":" + aidlLibName}})
-		}
-
-		if !aidlLibs.IsEmpty() {
-			ccAidlLibrarylabel := m.Name() + "_cc_aidl_library"
-			// Since parent cc_library already has these dependencies, we can add them as implementation
-			// deps so that they don't re-export
-			implementationDeps := linkerAttrs.deps.Clone()
-			implementationDeps.Append(linkerAttrs.implementationDeps)
-			implementationDynamicDeps := linkerAttrs.dynamicDeps.Clone()
-			implementationDynamicDeps.Append(linkerAttrs.implementationDynamicDeps)
-
-			ctx.CreateBazelTargetModule(
-				bazel.BazelTargetModuleProperties{
-					Rule_class:        "cc_aidl_library",
-					Bzl_load_location: "//build/bazel/rules/cc:cc_aidl_library.bzl",
-				},
-				android.CommonAttributes{Name: ccAidlLibrarylabel},
-				&ccAidlLibraryAttributes{
-					Deps:                        aidlLibs,
-					Implementation_deps:         *implementationDeps,
-					Implementation_dynamic_deps: *implementationDynamicDeps,
-					Tags:                        apexAvailableTags,
-					sdkAttributes:               sdkAttrs,
+				&aidlLibraryAttributes{
+					Srcs: aidlFiles,
 				},
 			)
-			label := &bazel.LabelAttribute{
-				Value: &bazel.Label{
-					Label: ":" + ccAidlLibrarylabel,
-				},
-			}
-			return label
+			aidlLibsFromSrcs.Add(&bazel.LabelAttribute{Value: &bazel.Label{Label: ":" + aidlLibName}})
 		}
 	}
 
+	allAidlLibs := aidlLibs.Clone()
+	allAidlLibs.Append(aidlLibsFromSrcs)
+
+	if !allAidlLibs.IsEmpty() {
+		ccAidlLibrarylabel := m.Name() + "_cc_aidl_library"
+		// Since parent cc_library already has these dependencies, we can add them as implementation
+		// deps so that they don't re-export
+		implementationDeps := linkerAttrs.deps.Clone()
+		implementationDeps.Append(linkerAttrs.implementationDeps)
+		implementationDynamicDeps := linkerAttrs.dynamicDeps.Clone()
+		implementationDynamicDeps.Append(linkerAttrs.implementationDynamicDeps)
+
+		sdkAttrs := bp2BuildParseSdkAttributes(m)
+
+		ctx.CreateBazelTargetModule(
+			bazel.BazelTargetModuleProperties{
+				Rule_class:        "cc_aidl_library",
+				Bzl_load_location: "//build/bazel/rules/cc:cc_aidl_library.bzl",
+			},
+			android.CommonAttributes{Name: ccAidlLibrarylabel},
+			&ccAidlLibraryAttributes{
+				Deps:                        *allAidlLibs,
+				Implementation_deps:         *implementationDeps,
+				Implementation_dynamic_deps: *implementationDynamicDeps,
+				Tags:                        apexAvailableTags,
+				sdkAttributes:               sdkAttrs,
+			},
+		)
+		label := &bazel.LabelAttribute{
+			Value: &bazel.Label{
+				Label: ":" + ccAidlLibrarylabel,
+			},
+		}
+		return label
+	}
+
 	return nil
 }
 
diff --git a/cc/cc.go b/cc/cc.go
index 7237686..f4b5655 100644
--- a/cc/cc.go
+++ b/cc/cc.go
@@ -27,6 +27,7 @@
 	"github.com/google/blueprint"
 	"github.com/google/blueprint/proptools"
 
+	"android/soong/aidl_library"
 	"android/soong/android"
 	"android/soong/bazel/cquery"
 	"android/soong/cc/config"
@@ -110,6 +111,9 @@
 	// Used by DepsMutator to pass system_shared_libs information to check_elf_file.py.
 	SystemSharedLibs []string
 
+	// Used by DepMutator to pass aidl_library modules to aidl compiler
+	AidlLibs []string
+
 	// If true, statically link the unwinder into native libraries/binaries.
 	StaticUnwinderIfLegacy bool
 
@@ -182,6 +186,9 @@
 	// For Darwin builds, the path to the second architecture's output that should
 	// be combined with this architectures's output into a FAT MachO file.
 	DarwinSecondArchOutput android.OptionalPath
+
+	// Paths to direct srcs and transitive include dirs from direct aidl_library deps
+	AidlLibraryInfos []aidl_library.AidlLibraryInfo
 }
 
 // LocalOrGlobalFlags contains flags that need to have values set globally by the build system or locally by the module
@@ -765,6 +772,7 @@
 	stubImplDepTag        = dependencyTag{name: "stub_impl"}
 	JniFuzzLibTag         = dependencyTag{name: "jni_fuzz_lib_tag"}
 	FdoProfileTag         = dependencyTag{name: "fdo_profile"}
+	aidlLibraryTag        = dependencyTag{name: "aidl_library"}
 )
 
 func IsSharedDepTag(depTag blueprint.DependencyTag) bool {
@@ -2751,6 +2759,14 @@
 		}
 	}
 
+	if len(deps.AidlLibs) > 0 {
+		actx.AddDependency(
+			c,
+			aidlLibraryTag,
+			deps.AidlLibs...,
+		)
+	}
+
 	updateImportedLibraryDependency(ctx)
 }
 
@@ -3055,6 +3071,17 @@
 			return
 		}
 
+		if depTag == aidlLibraryTag {
+			if ctx.OtherModuleHasProvider(dep, aidl_library.AidlLibraryProvider) {
+				depPaths.AidlLibraryInfos = append(
+					depPaths.AidlLibraryInfos,
+					ctx.OtherModuleProvider(
+						dep,
+						aidl_library.AidlLibraryProvider).(aidl_library.AidlLibraryInfo),
+				)
+			}
+		}
+
 		ccDep, ok := dep.(LinkableInterface)
 		if !ok {
 
diff --git a/cc/cc_test.go b/cc/cc_test.go
index f9e661f..d3d55e8 100644
--- a/cc/cc_test.go
+++ b/cc/cc_test.go
@@ -24,6 +24,7 @@
 	"strings"
 	"testing"
 
+	"android/soong/aidl_library"
 	"android/soong/android"
 	"android/soong/bazel/cquery"
 )
@@ -4418,9 +4419,65 @@
 	}
 }
 
+func TestAidlLibraryWithHeader(t *testing.T) {
+	t.Parallel()
+	ctx := android.GroupFixturePreparers(
+		prepareForCcTest,
+		aidl_library.PrepareForTestWithAidlLibrary,
+		android.MockFS{
+			"package_bar/Android.bp": []byte(`
+			aidl_library {
+				name: "bar",
+				srcs: ["x/y/Bar.aidl"],
+				strip_import_prefix: "x",
+			}
+			`)}.AddToFixture(),
+		android.MockFS{
+			"package_foo/Android.bp": []byte(`
+			aidl_library {
+				name: "foo",
+				srcs: ["a/b/Foo.aidl"],
+				strip_import_prefix: "a",
+				deps: ["bar"],
+			}
+			cc_library {
+				name: "libfoo",
+				aidl: {
+					libs: ["foo"],
+				}
+			}
+			`),
+		}.AddToFixture(),
+	).RunTest(t).TestContext
+
+	libfoo := ctx.ModuleForTests("libfoo", "android_arm64_armv8-a_static")
+	manifest := android.RuleBuilderSboxProtoForTests(t, libfoo.Output("aidl.sbox.textproto"))
+	aidlCommand := manifest.Commands[0].GetCommand()
+
+	expectedAidlFlags := "-Ipackage_foo/a -Ipackage_bar/x"
+	if !strings.Contains(aidlCommand, expectedAidlFlags) {
+		t.Errorf("aidl command %q does not contain %q", aidlCommand, expectedAidlFlags)
+	}
+
+	outputs := strings.Join(libfoo.AllOutputs(), " ")
+
+	android.AssertStringDoesContain(t, "aidl-generated header", outputs, "gen/aidl/b/BpFoo.h")
+	android.AssertStringDoesContain(t, "aidl-generated header", outputs, "gen/aidl/b/BnFoo.h")
+	android.AssertStringDoesContain(t, "aidl-generated header", outputs, "gen/aidl/b/Foo.h")
+	android.AssertStringDoesContain(t, "aidl-generated cpp", outputs, "b/Foo.cpp")
+	// Confirm that the aidl header doesn't get compiled to cpp and h files
+	android.AssertStringDoesNotContain(t, "aidl-generated header", outputs, "gen/aidl/y/BpBar.h")
+	android.AssertStringDoesNotContain(t, "aidl-generated header", outputs, "gen/aidl/y/BnBar.h")
+	android.AssertStringDoesNotContain(t, "aidl-generated header", outputs, "gen/aidl/y/Bar.h")
+	android.AssertStringDoesNotContain(t, "aidl-generated cpp", outputs, "y/Bar.cpp")
+}
+
 func TestAidlFlagsPassedToTheAidlCompiler(t *testing.T) {
 	t.Parallel()
-	ctx := testCc(t, `
+	ctx := android.GroupFixturePreparers(
+		prepareForCcTest,
+		aidl_library.PrepareForTestWithAidlLibrary,
+	).RunTestWithBp(t, `
 		cc_library {
 			name: "libfoo",
 			srcs: ["a/Foo.aidl"],
@@ -4705,7 +4762,15 @@
 	})
 
 	t.Run("ensure only aidl headers are exported", func(t *testing.T) {
-		ctx := testCc(t, genRuleModules+`
+		ctx := android.GroupFixturePreparers(
+			prepareForCcTest,
+			aidl_library.PrepareForTestWithAidlLibrary,
+		).RunTestWithBp(t, `
+		aidl_library {
+			name: "libfoo_aidl",
+			srcs: ["x/y/Bar.aidl"],
+			strip_import_prefix: "x",
+		}
 		cc_library_shared {
 			name: "libfoo",
 			srcs: [
@@ -4714,10 +4779,11 @@
 				"a.proto",
 			],
 			aidl: {
+				libs: ["libfoo_aidl"],
 				export_aidl_headers: true,
 			}
 		}
-		`)
+		`).TestContext
 		foo := ctx.ModuleForTests("libfoo", "android_arm64_armv8-a_shared").Module()
 		checkIncludeDirs(t, ctx, foo,
 			expectedIncludeDirs(`
@@ -4728,11 +4794,17 @@
 				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/b.h
 				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/Bnb.h
 				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/Bpb.h
+				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/y/Bar.h
+				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/y/BnBar.h
+				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/y/BpBar.h
 			`),
 			expectedOrderOnlyDeps(`
 				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/b.h
 				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/Bnb.h
 				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/Bpb.h
+				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/y/Bar.h
+				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/y/BnBar.h
+				.intermediates/libfoo/android_arm64_armv8-a_shared/gen/aidl/y/BpBar.h
 			`),
 		)
 	})
diff --git a/cc/compiler.go b/cc/compiler.go
index 88985b6..5da745e 100644
--- a/cc/compiler.go
+++ b/cc/compiler.go
@@ -120,6 +120,9 @@
 	Lex  *LexProperties
 
 	Aidl struct {
+		// List of aidl_library modules
+		Libs []string
+
 		// list of directories that will be added to the aidl include paths.
 		Include_dirs []string
 
@@ -272,6 +275,7 @@
 	deps.GeneratedSources = append(deps.GeneratedSources, compiler.Properties.Generated_sources...)
 	deps.GeneratedSources = removeListFromList(deps.GeneratedSources, compiler.Properties.Exclude_generated_sources)
 	deps.GeneratedHeaders = append(deps.GeneratedHeaders, compiler.Properties.Generated_headers...)
+	deps.AidlLibs = append(deps.AidlLibs, compiler.Properties.Aidl.Libs...)
 
 	android.ProtoDeps(ctx, &compiler.Proto)
 	if compiler.hasSrcExt(".proto") {
@@ -561,7 +565,7 @@
 			"-I"+android.PathForModuleGen(ctx, "yacc", ctx.ModuleDir()).String())
 	}
 
-	if compiler.hasSrcExt(".aidl") {
+	if compiler.hasAidl(deps) {
 		flags.aidlFlags = append(flags.aidlFlags, compiler.Properties.Aidl.Flags...)
 		if len(compiler.Properties.Aidl.Local_include_dirs) > 0 {
 			localAidlIncludeDirs := android.PathsForModuleSrc(ctx, compiler.Properties.Aidl.Local_include_dirs)
@@ -572,6 +576,14 @@
 			flags.aidlFlags = append(flags.aidlFlags, includeDirsToFlags(rootAidlIncludeDirs))
 		}
 
+		var rootAidlIncludeDirs android.Paths
+		for _, aidlLibraryInfo := range deps.AidlLibraryInfos {
+			rootAidlIncludeDirs = append(rootAidlIncludeDirs, aidlLibraryInfo.IncludeDirs.ToList()...)
+		}
+		if len(rootAidlIncludeDirs) > 0 {
+			flags.aidlFlags = append(flags.aidlFlags, includeDirsToFlags(rootAidlIncludeDirs))
+		}
+
 		if proptools.BoolDefault(compiler.Properties.Aidl.Generate_traces, true) {
 			flags.aidlFlags = append(flags.aidlFlags, "-t")
 		}
@@ -660,6 +672,10 @@
 	return nil
 }
 
+func (compiler *baseCompiler) hasAidl(deps PathDeps) bool {
+	return len(deps.AidlLibraryInfos) > 0 || compiler.hasSrcExt(".aidl")
+}
+
 func (compiler *baseCompiler) compile(ctx ModuleContext, flags Flags, deps PathDeps) Objects {
 	pathDeps := deps.GeneratedDeps
 	pathDeps = append(pathDeps, ndkPathDeps(ctx)...)
@@ -668,7 +684,7 @@
 
 	srcs := append(android.Paths(nil), compiler.srcsBeforeGen...)
 
-	srcs, genDeps, info := genSources(ctx, srcs, buildFlags)
+	srcs, genDeps, info := genSources(ctx, deps.AidlLibraryInfos, srcs, buildFlags)
 	pathDeps = append(pathDeps, genDeps...)
 
 	compiler.pathDeps = pathDeps
diff --git a/cc/gen.go b/cc/gen.go
index dfbb177..dbb9560 100644
--- a/cc/gen.go
+++ b/cc/gen.go
@@ -18,7 +18,9 @@
 	"path/filepath"
 	"strings"
 
+	"android/soong/aidl_library"
 	"android/soong/bazel"
+
 	"github.com/google/blueprint"
 
 	"android/soong/android"
@@ -124,11 +126,6 @@
 	headerBn := outDir.Join(ctx, aidlPackage, "Bn"+shortName+".h")
 	headerBp := outDir.Join(ctx, aidlPackage, "Bp"+shortName+".h")
 
-	baseDir := strings.TrimSuffix(aidlFile.String(), aidlFile.Rel())
-	if baseDir != "" {
-		aidlFlags += " -I" + baseDir
-	}
-
 	cmd := rule.Command()
 	cmd.BuiltTool("aidl-cpp").
 		FlagWithDepFile("-d", depFile).
@@ -282,7 +279,10 @@
 	syspropOrderOnlyDeps android.Paths
 }
 
-func genSources(ctx android.ModuleContext, srcFiles android.Paths,
+func genSources(
+	ctx android.ModuleContext,
+	aidlLibraryInfos []aidl_library.AidlLibraryInfo,
+	srcFiles android.Paths,
 	buildFlags builderFlags) (android.Paths, android.Paths, generatedSourceInfo) {
 
 	var info generatedSourceInfo
@@ -330,7 +330,8 @@
 				aidlRule = android.NewRuleBuilder(pctx, ctx).Sbox(android.PathForModuleGen(ctx, "aidl"),
 					android.PathForModuleGen(ctx, "aidl.sbox.textproto"))
 			}
-			cppFile, aidlHeaders := genAidl(ctx, aidlRule, srcFile, buildFlags.aidlFlags)
+			baseDir := strings.TrimSuffix(srcFile.String(), srcFile.Rel())
+			cppFile, aidlHeaders := genAidl(ctx, aidlRule, srcFile, buildFlags.aidlFlags+" -I"+baseDir)
 			srcFiles[i] = cppFile
 
 			info.aidlHeaders = append(info.aidlHeaders, aidlHeaders...)
@@ -352,6 +353,24 @@
 		}
 	}
 
+	for _, aidlLibraryInfo := range aidlLibraryInfos {
+		for _, aidlSrc := range aidlLibraryInfo.Srcs {
+			if aidlRule == nil {
+				// TODO(b/279960133): Sandbox inputs to ensure aidl headers are explicitly specified
+				aidlRule = android.NewRuleBuilder(pctx, ctx).Sbox(android.PathForModuleGen(ctx, "aidl"),
+					android.PathForModuleGen(ctx, "aidl.sbox.textproto"))
+			}
+			cppFile, aidlHeaders := genAidl(ctx, aidlRule, aidlSrc, buildFlags.aidlFlags)
+
+			srcFiles = append(srcFiles, cppFile)
+			info.aidlHeaders = append(info.aidlHeaders, aidlHeaders...)
+			// Use the generated headers as order only deps to ensure that they are up to date when
+			// needed.
+			// TODO: Reduce the size of the ninja file by using one order only dep for the whole rule
+			info.aidlOrderOnlyDeps = append(info.aidlOrderOnlyDeps, aidlHeaders...)
+		}
+	}
+
 	if aidlRule != nil {
 		aidlRule.Build("aidl", "gen aidl")
 	}
diff --git a/cc/library.go b/cc/library.go
index 13b333a..ad4688f 100644
--- a/cc/library.go
+++ b/cc/library.go
@@ -2114,7 +2114,7 @@
 
 	// Optionally export aidl headers.
 	if Bool(library.Properties.Aidl.Export_aidl_headers) {
-		if library.baseCompiler.hasSrcExt(".aidl") {
+		if library.baseCompiler.hasAidl(deps) {
 			dir := android.PathForModuleGen(ctx, "aidl")
 			library.reexportDirs(dir)