diff --git a/automotive/vehicle/aidl/aidl_api/android.hardware.automotive.vehicle/current/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl/aidl_api/android.hardware.automotive.vehicle/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
index a7c7060..0af4b33 100644
--- a/automotive/vehicle/aidl/aidl_api/android.hardware.automotive.vehicle/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl/aidl_api/android.hardware.automotive.vehicle/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -157,6 +157,7 @@
   WINDOW_POS = 322964416,
   WINDOW_MOVE = 322964417,
   WINDOW_LOCK = 320867268,
+  STEERING_WHEEL_DEPTH_POS = 289410016,
   VEHICLE_MAP_SERVICE = 299895808,
   OBD2_LIVE_FRAME = 299896064,
   OBD2_FREEZE_FRAME = 299896065,
diff --git a/automotive/vehicle/aidl/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 4c7784b..b991db1 100644
--- a/automotive/vehicle/aidl/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -1762,6 +1762,25 @@
     WINDOW_LOCK = 0x0BC4 + 0x10000000 + 0x03000000
             + 0x00200000, // VehiclePropertyGroup:SYSTEM,VehicleArea:WINDOW,VehiclePropertyType:BOOLEAN
     /**
+     * Steering wheel depth position
+     *
+     * All steering wheel properties' unique ids start from 0x0BE0.
+     *
+     * The maxInt32Value and minInt32Value in VehicleAreaConfig must be defined. All values between
+     * minInt32Value and maxInt32Value must be supported.
+     *
+     * The maxInt32Value in default area's VehicleAreaConfig indicates the steering wheel position
+     * closest to the driver. The minInt32Value in default area's VehicleAreaConfig indicates the
+     * steering wheel position furthest to the driver.
+     *
+     * This value is not in any particular unit but in a specified range of steps.
+     *
+     * @change_mode VehiclePropertyChangeMode.ON_CHANGE
+     * @access VehiclePropertyAccess.READ_WRITE
+     */
+    STEERING_WHEEL_DEPTH_POS =
+            0x0BE0 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+    /**
      * Vehicle Maps Service (VMS) message
      *
      * This property uses MIXED data to communicate vms messages.
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 7f3279b..40a7ca5 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -157,6 +157,7 @@
         {VehicleProperty::WINDOW_POS, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::WINDOW_MOVE, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::WINDOW_LOCK, VehiclePropertyAccess::READ_WRITE},
+        {VehicleProperty::STEERING_WHEEL_DEPTH_POS, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::VEHICLE_MAP_SERVICE, VehiclePropertyAccess::READ_WRITE},
         {VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyAccess::READ},
         {VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyAccess::READ},
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 9f9d828..a81d748 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -157,6 +157,7 @@
         {VehicleProperty::WINDOW_POS, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::WINDOW_MOVE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::WINDOW_LOCK, VehiclePropertyChangeMode::ON_CHANGE},
+        {VehicleProperty::STEERING_WHEEL_DEPTH_POS, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::VEHICLE_MAP_SERVICE, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
         {VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index fa3ba64..7c7e197 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -149,6 +149,7 @@
         Map.entry(VehicleProperty.WINDOW_POS, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.WINDOW_MOVE, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.WINDOW_LOCK, VehiclePropertyAccess.READ_WRITE),
+        Map.entry(VehicleProperty.STEERING_WHEEL_DEPTH_POS, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.VEHICLE_MAP_SERVICE, VehiclePropertyAccess.READ_WRITE),
         Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyAccess.READ),
         Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyAccess.READ),
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index 9dd6f1d..f3c0244 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -149,6 +149,7 @@
         Map.entry(VehicleProperty.WINDOW_POS, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.WINDOW_MOVE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.WINDOW_LOCK, VehiclePropertyChangeMode.ON_CHANGE),
+        Map.entry(VehicleProperty.STEERING_WHEEL_DEPTH_POS, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.VEHICLE_MAP_SERVICE, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
         Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index f25cab7..f473370 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -2209,6 +2209,21 @@
             ]
         },
         {
+            "property": "VehicleProperty::STEERING_WHEEL_DEPTH_POS",
+            "defaultValue": {
+                "int32Values": [
+                    0
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": 0,
+                    "minInt32Value": 0,
+                    "maxInt32Value": 10
+                }
+            ]
+        },
+        {
             "property": "VehicleProperty::WHEEL_TICK",
             "defaultValue": {
                 "int64Values": [
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index 9dffbcc..6ecde71 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -487,6 +487,12 @@
                    VehicleArea::DOOR, VehiclePropertyType::BOOLEAN);
 }
 
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifySteeringWheelDepthPosConfig) {
+    verifyProperty(VehicleProperty::STEERING_WHEEL_DEPTH_POS, VehiclePropertyAccess::READ_WRITE,
+                   VehiclePropertyChangeMode::ON_CHANGE, VehiclePropertyGroup::SYSTEM,
+                   VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
 std::vector<ServiceDescriptor> getDescriptors() {
     std::vector<ServiceDescriptor> descriptors;
     for (std::string name : getAidlHalInstanceNames(IVehicle::descriptor)) {