diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index e488951..da10cf4 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -250,6 +250,7 @@
         {VehicleProperty::LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::LANE_KEEP_ASSIST_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyAccess::READ_WRITE},
+        {VehicleProperty::LANE_CENTERING_ASSIST_COMMAND, VehiclePropertyAccess::WRITE},
         {VehicleProperty::LANE_CENTERING_ASSIST_STATE, VehiclePropertyAccess::READ},
         {VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyAccess::READ_WRITE},
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 133e7a9..f1e9412 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -250,6 +250,7 @@
         {VehicleProperty::LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::LANE_KEEP_ASSIST_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
+        {VehicleProperty::LANE_CENTERING_ASSIST_COMMAND, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::LANE_CENTERING_ASSIST_STATE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyChangeMode::ON_CHANGE},
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index 4f072cf..10facb5 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -242,6 +242,7 @@
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyAccess.READ_WRITE),
+        Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_COMMAND, VehiclePropertyAccess.WRITE),
         Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_STATE, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyAccess.READ_WRITE),
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index 2301503..bcc4b92 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -242,6 +242,7 @@
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.LANE_KEEP_ASSIST_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
+        Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_COMMAND, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.LANE_CENTERING_ASSIST_STATE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.EMERGENCY_LANE_KEEP_ASSIST_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.ADAPTIVE_CRUISE_CONTROL_ENABLED, VehiclePropertyChangeMode.ON_CHANGE),
diff --git a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
index 9bf5750..943cf88 100644
--- a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
@@ -45,6 +45,7 @@
 using ::aidl::android::hardware::automotive::vehicle::ForwardCollisionWarningState;
 using ::aidl::android::hardware::automotive::vehicle::FuelType;
 using ::aidl::android::hardware::automotive::vehicle::GsrComplianceRequirementType;
+using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistCommand;
 using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistState;
 using ::aidl::android::hardware::automotive::vehicle::LaneKeepAssistState;
 using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
@@ -222,6 +223,8 @@
             std::make_unique<ConstantParser<BlindSpotWarningState>>();
     mConstantParsersByType["LaneKeepAssistState"] =
             std::make_unique<ConstantParser<LaneKeepAssistState>>();
+    mConstantParsersByType["LaneCenteringAssistCommand"] =
+            std::make_unique<ConstantParser<LaneCenteringAssistCommand>>();
     mConstantParsersByType["LaneCenteringAssistState"] =
             std::make_unique<ConstantParser<LaneCenteringAssistState>>();
     mConstantParsersByType["Constants"] = std::make_unique<LocalVariableParser>();
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index da9eaaf..cde7bab 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3293,6 +3293,9 @@
             }
         },
         {
+            "property": "VehicleProperty::LANE_CENTERING_ASSIST_COMMAND"
+        },
+        {
             "property": "VehicleProperty::LANE_CENTERING_ASSIST_STATE",
             "defaultValue": {
                 "int32Values": [
diff --git a/automotive/vehicle/aidl/impl/default_config/config/README.md b/automotive/vehicle/aidl/impl/default_config/config/README.md
index 6f0785f..360018f 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/README.md
+++ b/automotive/vehicle/aidl/impl/default_config/config/README.md
@@ -149,6 +149,8 @@
 
 * LaneKeepAssistState
 
+* LaneCenteringAssistCommand
+
 * LaneCenteringAssistState
 
 * ErrorState
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
index 950b3a0..bba3242 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -32,6 +32,7 @@
 #include <aidl/android/hardware/automotive/vehicle/GetValueResult.h>
 #include <aidl/android/hardware/automotive/vehicle/GetValueResults.h>
 #include <aidl/android/hardware/automotive/vehicle/GsrComplianceRequirementType.h>
+#include <aidl/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.h>
 #include <aidl/android/hardware/automotive/vehicle/LaneCenteringAssistState.h>
 #include <aidl/android/hardware/automotive/vehicle/LaneKeepAssistState.h>
 #include <aidl/android/hardware/automotive/vehicle/Obd2CommonIgnitionMonitors.h>
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.aidl
new file mode 100644
index 0000000..9e72605
--- /dev/null
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.aidl
@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.automotive.vehicle;
+@Backing(type="int") @VintfStability
+enum LaneCenteringAssistCommand {
+  ACTIVATE = 1,
+  DEACTIVATE = 2,
+}
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 930fbd8..51a3d18 100644
--- a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -248,6 +248,7 @@
   LANE_KEEP_ASSIST_ENABLED = (((0x1008 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313928 */,
   LANE_KEEP_ASSIST_STATE = (((0x1009 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411081 */,
   LANE_CENTERING_ASSIST_ENABLED = (((0x100A + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313930 */,
+  LANE_CENTERING_ASSIST_COMMAND = (((0x100B + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411083 */,
   LANE_CENTERING_ASSIST_STATE = (((0x100C + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289411084 */,
   EMERGENCY_LANE_KEEP_ASSIST_ENABLED = (((0x100D + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313933 */,
   ADAPTIVE_CRUISE_CONTROL_ENABLED = (((0x100F + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 287313935 */,
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.aidl
new file mode 100644
index 0000000..d8b0e65
--- /dev/null
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LaneCenteringAssistCommand.aidl
@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.automotive.vehicle;
+
+/**
+ * Used by Lane Centering Assist (LCA) to enumerate commands.
+ */
+@VintfStability
+@Backing(type="int")
+enum LaneCenteringAssistCommand {
+    /**
+     * When VehicleProperty#LANE_CENTERING_ASSIST_STATE = LaneCenteringAssistState#ENABLED, this
+     * command sends a request to activate steering control that keeps the vehicle centered in its
+     * lane. While waiting for the LCA System to take control of the vehicle,
+     * VehicleProperty#LANE_CENTERING_ASSIST_STATE must be in the
+     * LaneCenteringAssistState#ACTIVATION_REQUESTED state. Once the vehicle takes control of
+     * steering, then VehicleProperty#LANE_CENTERING_ASSIST_STATE must be in the
+     * LaneCenteringAssistState#ACTIVATED state. Otherwise, an error can be communicated through an
+     * ErrorState value.
+     */
+    ACTIVATE = 1,
+    /**
+     * When VehicleProperty#LANE_CENTERING_ASSIST_STATE is set to
+     * LaneCenteringAssistState#ACTIVATION_REQUESTED or LaneCenteringAssistState#ACTIVATED, this
+     * command deactivates steering control and the driver should take full control of the vehicle.
+     * If this command succeeds, VehicleProperty#LANE_CENTERING_ASSIST_STATE must be updated to
+     * LaneCenteringAssistState#ENABLED.
+     */
+    DEACTIVATE = 2,
+}
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index d8ffece..2f8c41b 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3658,6 +3658,30 @@
             0x100A + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.BOOLEAN,
 
     /**
+     * Lane Centering Assist (LCA) commands.
+     *
+     * Commands to activate and suspend LCA. They are only valid when LANE_CENTERING_ASSIST_ENABLED
+     * = true. Otherwise, these commands must return StatusCode#NOT_AVAILABLE or
+     * StatusCode#NOT_AVAILABLE_DISABLED.
+     *
+     * When the command ACTIVATE from LaneCenteringAssistCommmand is sent,
+     * LANE_CENTERING_ASSIST_STATE must be set to LaneCenteringAssistState#ACTIVATION_REQUESTED.
+     * When the ACTIVATE command succeeds, LANE_CENTERING_ASSIST_STATE must be set to
+     * LaneCenteringAssistState#ACTIVATED. When the command DEACTIVATE from
+     * LaneCenteringAssistCommmand succeeds, LANE_CENTERING_ASSIST_STATE must be set to
+     * LaneCenteringAssistState#ENABLED.
+     *
+     * For the global area ID (0), the VehicleAreaConfig#supportedEnumValues must be defined unless
+     * all enum values of LaneCenteringAssistCommand are supported.
+     *
+     * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+     * @access VehiclePropertyAccess.WRITE
+     * @data_enum LaneCenteringAssistCommmand
+     */
+    LANE_CENTERING_ASSIST_COMMAND =
+            0x100B + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+
+    /**
      * Lane Centering Assist (LCA) state.
      *
      * Returns the current state of LCA. This property must always return a valid state defined in
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index 0215907..7ab9b65 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -738,6 +738,12 @@
                    VehiclePropertyGroup::SYSTEM, VehicleArea::GLOBAL, VehiclePropertyType::BOOLEAN);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyLaneCenteringAssistCommandConfig) {
+    verifyProperty(VehicleProperty::LANE_CENTERING_ASSIST_COMMAND, VehiclePropertyAccess::WRITE,
+                   VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,
+                   VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyLaneCenteringAssistStateConfig) {
     verifyProperty(VehicleProperty::LANE_CENTERING_ASSIST_STATE, VehiclePropertyAccess::READ,
                    VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,