diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h
index c3e8168..49b33d5 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleUtils.h
@@ -213,7 +213,7 @@
 ::ndk::ScopedAStatus toScopedAStatus(
         const ::android::base::Result<T>& result,
         ::aidl::android::hardware::automotive::vehicle::StatusCode status,
-        std::string additionalErrorMsg) {
+        const std::string& additionalErrorMsg) {
     if (result.ok()) {
         return ::ndk::ScopedAStatus::ok();
     }
@@ -236,7 +236,7 @@
 
 template <class T>
 ::ndk::ScopedAStatus toScopedAStatus(const ::android::base::Result<T>& result,
-                                     std::string additionalErrorMsg) {
+                                     const std::string& additionalErrorMsg) {
     return toScopedAStatus(result, getErrorCode(result), additionalErrorMsg);
 }
 
diff --git a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
index da83e94..4ee3ee9 100644
--- a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
+++ b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
@@ -21,7 +21,6 @@
 #include "ParcelableUtils.h"
 
 #include <IVehicleHardware.h>
-#include <LargeParcelableBase.h>
 #include <VehicleUtils.h>
 #include <aidl/android/hardware/automotive/vehicle/BnVehicle.h>
 #include <android-base/expected.h>
@@ -42,36 +41,6 @@
 
 constexpr int INVALID_MEMORY_FD = -1;
 
-template <class T>
-::ndk::ScopedAStatus toScopedAStatus(
-        const ::android::base::Result<T>& result,
-        ::aidl::android::hardware::automotive::vehicle::StatusCode status,
-        const std::string& additionalErrorMsg) {
-    if (result.ok()) {
-        return ::ndk::ScopedAStatus::ok();
-    }
-    return ::ndk::ScopedAStatus::fromServiceSpecificErrorWithMessage(
-            toInt(status), (additionalErrorMsg + getErrorMsg(result)).c_str());
-}
-
-template <class T>
-::ndk::ScopedAStatus toScopedAStatus(
-        const ::android::base::Result<T>& result,
-        ::aidl::android::hardware::automotive::vehicle::StatusCode status) {
-    return toScopedAStatus(result, status, "");
-}
-
-template <class T>
-::ndk::ScopedAStatus toScopedAStatus(const ::android::base::Result<T>& result) {
-    return toScopedAStatus(result, getErrorCode(result));
-}
-
-template <class T>
-::ndk::ScopedAStatus toScopedAStatus(const ::android::base::Result<T>& result,
-                                     const std::string& additionalErrorMsg) {
-    return toScopedAStatus(result, getErrorCode(result), additionalErrorMsg);
-}
-
 }  // namespace defaultvehiclehal_impl
 
 class DefaultVehicleHal final : public ::aidl::android::hardware::automotive::vehicle::BnVehicle {
@@ -115,8 +84,14 @@
     using GetValuesClient =
             GetSetValuesClient<::aidl::android::hardware::automotive::vehicle::GetValueResult,
                                ::aidl::android::hardware::automotive::vehicle::GetValueResults>;
+    using SetValuesClient =
+            GetSetValuesClient<::aidl::android::hardware::automotive::vehicle::SetValueResult,
+                               ::aidl::android::hardware::automotive::vehicle::SetValueResults>;
 
     const std::unique_ptr<IVehicleHardware> mVehicleHardware;
+
+    // mConfigsByPropId and mConfigFile are only modified during initialization, so no need to
+    // lock guard them.
     std::unordered_map<int32_t, ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig>
             mConfigsByPropId;
     std::unique_ptr<::ndk::ScopedFileDescriptor> mConfigFile;
@@ -124,11 +99,16 @@
     std::mutex mLock;
     std::unordered_map<CallbackType, std::shared_ptr<GetValuesClient>> mGetValuesClients
             GUARDED_BY(mLock);
+    std::unordered_map<CallbackType, std::shared_ptr<SetValuesClient>> mSetValuesClients
+            GUARDED_BY(mLock);
 
     template <class T>
     std::shared_ptr<T> getOrCreateClient(
             std::unordered_map<CallbackType, std::shared_ptr<T>>* clients,
             const CallbackType& callback) REQUIRES(mLock);
+
+    ::android::base::Result<void> checkProperty(
+            const ::aidl::android::hardware::automotive::vehicle::VehiclePropValue& propValue);
 };
 
 }  // namespace vehicle
diff --git a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
index 41753a6..e98f021 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
@@ -35,13 +35,18 @@
 using ::aidl::android::hardware::automotive::vehicle::GetValueResult;
 using ::aidl::android::hardware::automotive::vehicle::GetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::IVehicleCallback;
+using ::aidl::android::hardware::automotive::vehicle::SetValueRequest;
 using ::aidl::android::hardware::automotive::vehicle::SetValueRequests;
+using ::aidl::android::hardware::automotive::vehicle::SetValueResult;
+using ::aidl::android::hardware::automotive::vehicle::SetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::StatusCode;
 using ::aidl::android::hardware::automotive::vehicle::SubscribeOptions;
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
 using ::android::automotive::car_binder_lib::LargeParcelableBase;
+using ::android::base::Error;
 using ::android::base::expected;
 using ::android::base::Result;
 using ::ndk::ScopedAStatus;
@@ -92,6 +97,36 @@
         std::unordered_map<CallbackType, std::shared_ptr<GetValuesClient>>* clients,
         const CallbackType& callback);
 
+template std::shared_ptr<DefaultVehicleHal::SetValuesClient>
+DefaultVehicleHal::getOrCreateClient<DefaultVehicleHal::SetValuesClient>(
+        std::unordered_map<CallbackType, std::shared_ptr<SetValuesClient>>* clients,
+        const CallbackType& callback);
+
+Result<void> DefaultVehicleHal::checkProperty(const VehiclePropValue& propValue) {
+    int32_t propId = propValue.prop;
+    auto it = mConfigsByPropId.find(propId);
+    if (it == mConfigsByPropId.end()) {
+        return Error() << "no config for property, ID: " << propId;
+    }
+    const VehiclePropConfig& config = it->second;
+    const VehicleAreaConfig* areaConfig = getAreaConfig(propValue, config);
+    if (!isGlobalProp(propId) && areaConfig == nullptr) {
+        // Ignore areaId for global property. For non global property, check whether areaId is
+        // allowed. areaId must appear in areaConfig.
+        return Error() << "invalid area ID: " << propValue.areaId << " for prop ID: " << propId
+                       << ", not listed in config";
+    }
+    if (auto result = checkPropValue(propValue, &config); !result.ok()) {
+        return Error() << "invalid property value: " << propValue.toString()
+                       << ", error: " << result.error().message();
+    }
+    if (auto result = checkValueRange(propValue, areaConfig); !result.ok()) {
+        return Error() << "property value out of range: " << propValue.toString()
+                       << ", error: " << result.error().message();
+    }
+    return {};
+}
+
 ScopedAStatus DefaultVehicleHal::getValues(const CallbackType& callback,
                                            const GetValueRequests& requests) {
     // TODO(b/203713317): check for duplicate properties and duplicate request IDs.
@@ -127,8 +162,60 @@
     return ScopedAStatus::ok();
 }
 
-ScopedAStatus DefaultVehicleHal::setValues(const CallbackType&, const SetValueRequests&) {
-    // TODO(b/200737967): implement this.
+ScopedAStatus DefaultVehicleHal::setValues(const CallbackType& callback,
+                                           const SetValueRequests& requests) {
+    // TODO(b/203713317): check for duplicate properties and duplicate request IDs.
+
+    const std::vector<SetValueRequest>* setValueRequests;
+    // Define deserializedResults here because we need it to have the same lifetime as
+    // setValueRequests.
+    expected<std::vector<SetValueRequest>, ScopedAStatus> deserializedResults;
+    if (!requests.payloads.empty()) {
+        setValueRequests = &requests.payloads;
+    } else {
+        deserializedResults = stableLargeParcelableToVector<SetValueRequest>(requests);
+        if (!deserializedResults.ok()) {
+            ALOGE("failed to parse setValues requests");
+            return std::move(deserializedResults.error());
+        }
+        setValueRequests = &deserializedResults.value();
+    }
+
+    // A list of failed result we already know before sending to hardware.
+    std::vector<SetValueResult> failedResults;
+    // The list of requests that we would send to hardware.
+    std::vector<SetValueRequest> hardwareRequests;
+
+    for (auto& request : *setValueRequests) {
+        int64_t requestId = request.requestId;
+        if (auto result = checkProperty(request.value); !result.ok()) {
+            ALOGW("property not valid: %s", result.error().message().c_str());
+            failedResults.push_back(SetValueResult{
+                    .requestId = requestId,
+                    .status = StatusCode::INVALID_ARG,
+            });
+            continue;
+        }
+        hardwareRequests.push_back(request);
+    }
+
+    std::shared_ptr<SetValuesClient> client;
+    {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        client = getOrCreateClient(&mSetValuesClients, callback);
+    }
+
+    if (!failedResults.empty()) {
+        client->sendResults(failedResults);
+    }
+
+    if (StatusCode status =
+                mVehicleHardware->setValues(client->getResultCallback(), hardwareRequests);
+        status != StatusCode::OK) {
+        return ScopedAStatus::fromServiceSpecificErrorWithMessage(
+                toInt(status), "failed to set value to VehicleHardware");
+    }
+
     return ScopedAStatus::ok();
 }
 
diff --git a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
index 6c99ceb..8934a7b 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
@@ -53,6 +53,7 @@
 using ::aidl::android::hardware::automotive::vehicle::SetValueResult;
 using ::aidl::android::hardware::automotive::vehicle::SetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::StatusCode;
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaWindow;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropErrors;
@@ -68,6 +69,10 @@
 using ::testing::Eq;
 using ::testing::WhenSortedBy;
 
+constexpr int32_t INVALID_PROP_ID = 0;
+// VehiclePropertyGroup:SYSTEM,VehicleArea:WINDOW,VehiclePropertyType:INT32
+constexpr int32_t INT32_WINDOW_PROP = 10001 + 0x10000000 + 0x03000000 + 0x00400000;
+
 template <class T>
 std::optional<T> pop(std::list<T>& items) {
     if (items.size() > 0) {
@@ -78,13 +83,13 @@
     return std::nullopt;
 }
 
+int32_t testInt32VecProp(size_t i) {
+    // VehiclePropertyGroup:SYSTEM,VehicleArea:GLOBAL,VehiclePropertyType:INT32_VEC
+    return static_cast<int32_t>(i) + 0x10000000 + 0x01000000 + 0x00410000;
+}
+
 class MockVehicleHardware final : public IVehicleHardware {
   public:
-    std::vector<VehiclePropConfig> getAllPropertyConfigs() const override {
-        std::scoped_lock<std::mutex> lockGuard(mLock);
-        return mPropertyConfigs;
-    }
-
     ~MockVehicleHardware() {
         std::scoped_lock<std::mutex> lockGuard(mLock);
         for (auto& thread : mThreads) {
@@ -92,6 +97,11 @@
         }
     }
 
+    std::vector<VehiclePropConfig> getAllPropertyConfigs() const override {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        return mPropertyConfigs;
+    }
+
     StatusCode setValues(std::shared_ptr<const SetValuesCallback> callback,
                          const std::vector<SetValueRequest>& requests) override {
         std::scoped_lock<std::mutex> lockGuard(mLock);
@@ -262,12 +272,83 @@
     }
 } propConfigCmp;
 
+struct SetValuesInvalidRequestTestCase {
+    std::string name;
+    VehiclePropValue request;
+    StatusCode expectedStatus;
+};
+
+std::vector<SetValuesInvalidRequestTestCase> getSetValuesInvalidRequestTestCases() {
+    return {{
+                    .name = "config_not_found",
+                    .request =
+                            {
+                                    // No config for INVALID_PROP_ID.
+                                    .prop = INVALID_PROP_ID,
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            },
+            {
+                    .name = "invalid_prop_value",
+                    .request =
+                            {
+                                    .prop = testInt32VecProp(0),
+                                    // No int32Values for INT32_VEC property.
+                                    .value.int32Values = {},
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            },
+            {
+                    .name = "value_out_of_range",
+                    .request =
+                            {
+                                    .prop = testInt32VecProp(0),
+                                    // We configured the range to be 0-100.
+                                    .value.int32Values = {0, -1},
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            },
+            {
+                    .name = "invalid_area",
+                    .request =
+                            {
+                                    .prop = INT32_WINDOW_PROP,
+                                    .value.int32Values = {0},
+                                    // Only ROW_1_LEFT is allowed.
+                                    .areaId = toInt(VehicleAreaWindow::ROW_1_RIGHT),
+                            },
+                    .expectedStatus = StatusCode::INVALID_ARG,
+            }};
+}
+
 }  // namespace
 
 class DefaultVehicleHalTest : public ::testing::Test {
   public:
     void SetUp() override {
         auto hardware = std::make_unique<MockVehicleHardware>();
+        std::vector<VehiclePropConfig> testConfigs;
+        for (size_t i = 0; i < 10000; i++) {
+            testConfigs.push_back(VehiclePropConfig{
+                    .prop = testInt32VecProp(i),
+                    .areaConfigs =
+                            {
+                                    {
+                                            .areaId = 0,
+                                            .minInt32Value = 0,
+                                            .maxInt32Value = 100,
+                                    },
+                            },
+            });
+        }
+        testConfigs.push_back(
+                VehiclePropConfig{.prop = INT32_WINDOW_PROP,
+                                  .areaConfigs = {{
+                                          .areaId = toInt(VehicleAreaWindow::ROW_1_LEFT),
+                                          .minInt32Value = 0,
+                                          .maxInt32Value = 100,
+                                  }}});
+        hardware->setPropertyConfigs(testConfigs);
         mHardwarePtr = hardware.get();
         mVhal = ndk::SharedRefBase::make<DefaultVehicleHal>(std::move(hardware));
         mVhalClient = IVehicle::fromBinder(mVhal->asBinder());
@@ -289,7 +370,7 @@
         expectedHardwareRequests.clear();
         for (size_t i = 0; i < size; i++) {
             int64_t requestId = static_cast<int64_t>(i);
-            int32_t propId = static_cast<int32_t>(i);
+            int32_t propId = testInt32VecProp(i);
             expectedHardwareRequests.push_back(GetValueRequest{
                     .prop =
                             VehiclePropValue{
@@ -321,9 +402,43 @@
         return {};
     }
 
+    static Result<void> setValuesTestCases(size_t size, SetValueRequests& requests,
+                                           std::vector<SetValueResult>& expectedResults,
+                                           std::vector<SetValueRequest>& expectedHardwareRequests) {
+        expectedHardwareRequests.clear();
+        for (size_t i = 0; i < size; i++) {
+            int64_t requestId = static_cast<int64_t>(i);
+            int32_t propId = testInt32VecProp(i);
+            expectedHardwareRequests.push_back(SetValueRequest{
+                    .value =
+                            VehiclePropValue{
+                                    .prop = propId,
+                                    .value.int32Values = {1, 2, 3, 4},
+                            },
+                    .requestId = requestId,
+            });
+            expectedResults.push_back(SetValueResult{
+                    .requestId = requestId,
+                    .status = StatusCode::OK,
+            });
+        }
+
+        auto result = LargeParcelableBase::parcelableVectorToStableLargeParcelable(
+                expectedHardwareRequests);
+        if (!result.ok()) {
+            return result.error();
+        }
+        if (result.value() == nullptr) {
+            requests.payloads = expectedHardwareRequests;
+        } else {
+            requests.sharedMemoryFd = std::move(*result.value());
+        }
+        return {};
+    }
+
     size_t countClients() {
         std::scoped_lock<std::mutex> lockGuard(mVhal->mLock);
-        return mVhal->mGetValuesClients.size();
+        return mVhal->mGetValuesClients.size() + mVhal->mSetValuesClients.size();
     }
 
   private:
@@ -462,6 +577,113 @@
     ASSERT_EQ(status.getServiceSpecificError(), toInt(StatusCode::INVALID_ARG));
 }
 
+TEST_F(DefaultVehicleHalTest, testSetValuesSmall) {
+    SetValueRequests requests;
+    std::vector<SetValueResult> expectedResults;
+    std::vector<SetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(setValuesTestCases(10, requests, expectedResults, expectedHardwareRequests).ok());
+
+    getHardware()->addSetValueResponses(expectedResults);
+
+    auto status = getClient()->setValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "setValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextSetValueRequests(), expectedHardwareRequests)
+            << "requests to hardware mismatch";
+
+    auto maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results in callback";
+    ASSERT_EQ(maybeSetValueResults.value().payloads, expectedResults) << "results mismatch";
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
+TEST_F(DefaultVehicleHalTest, testSetValuesLarge) {
+    SetValueRequests requests;
+    std::vector<SetValueResult> expectedResults;
+    std::vector<SetValueRequest> expectedHardwareRequests;
+
+    ASSERT_TRUE(setValuesTestCases(5000, requests, expectedResults, expectedHardwareRequests).ok());
+
+    getHardware()->addSetValueResponses(expectedResults);
+
+    auto status = getClient()->setValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "setValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextSetValueRequests(), expectedHardwareRequests)
+            << "requests to hardware mismatch";
+
+    auto maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results in callback";
+    const SetValueResults& setValueResults = maybeSetValueResults.value();
+    ASSERT_TRUE(setValueResults.payloads.empty())
+            << "payload should be empty, shared memory file should be used";
+
+    auto result = LargeParcelableBase::stableLargeParcelableToParcelableVector<SetValueResult>(
+            setValueResults.sharedMemoryFd);
+    ASSERT_TRUE(result.ok()) << "failed to parse shared memory file";
+    ASSERT_TRUE(result.value().has_value()) << "no parsed value";
+    ASSERT_EQ(result.value().value(), expectedResults) << "results mismatch";
+    EXPECT_EQ(countClients(), static_cast<size_t>(1));
+}
+
+class SetValuesInvalidRequestTest
+    : public DefaultVehicleHalTest,
+      public testing::WithParamInterface<SetValuesInvalidRequestTestCase> {};
+
+INSTANTIATE_TEST_SUITE_P(
+        SetValuesInvalidRequestTests, SetValuesInvalidRequestTest,
+        ::testing::ValuesIn(getSetValuesInvalidRequestTestCases()),
+        [](const testing::TestParamInfo<SetValuesInvalidRequestTest::ParamType>& info) {
+            return info.param.name;
+        });
+
+TEST_P(SetValuesInvalidRequestTest, testSetValuesInvalidRequest) {
+    SetValuesInvalidRequestTestCase tc = GetParam();
+    std::vector<SetValueResult> expectedHardwareResults{
+            SetValueResult{
+                    .requestId = 1,
+                    .status = StatusCode::OK,
+            },
+    };
+    getHardware()->addSetValueResponses(expectedHardwareResults);
+
+    SetValueRequests requests;
+    SetValueRequest invalidRequest{
+            .requestId = 0,
+            .value = tc.request,
+    };
+    SetValueRequest normalRequest{.requestId = 1,
+                                  .value = {
+                                          .prop = testInt32VecProp(0),
+                                          .value.int32Values = {0},
+                                  }};
+    requests.payloads = {invalidRequest, normalRequest};
+    auto status = getClient()->setValues(getCallbackClient(), requests);
+
+    ASSERT_TRUE(status.isOk()) << "setValues failed: " << status.getMessage();
+
+    EXPECT_EQ(getHardware()->nextSetValueRequests(), std::vector<SetValueRequest>({normalRequest}))
+            << "requests to hardware mismatch";
+
+    auto maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results in callback";
+    EXPECT_EQ(maybeSetValueResults.value().payloads, std::vector<SetValueResult>({
+                                                             {
+                                                                     .requestId = 0,
+                                                                     .status = tc.expectedStatus,
+                                                             },
+                                                     }))
+            << "invalid argument result mismatch";
+
+    maybeSetValueResults = getCallback()->nextSetValueResults();
+    ASSERT_TRUE(maybeSetValueResults.has_value()) << "no results from hardware in callback";
+    EXPECT_EQ(maybeSetValueResults.value().payloads, expectedHardwareResults)
+            << "results from hardware mismatch";
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware