diff --git a/automotive/remoteaccess/hal/default/Android.bp b/automotive/remoteaccess/hal/default/Android.bp
index 25bda3e..2502079 100644
--- a/automotive/remoteaccess/hal/default/Android.bp
+++ b/automotive/remoteaccess/hal/default/Android.bp
@@ -29,6 +29,7 @@
         "RemoteAccessService",
     ],
     shared_libs: [
+        "libbase",
         "libbinder_ndk",
         "liblog",
         "libutils",
@@ -56,6 +57,7 @@
     shared_libs: [
         "libbase",
         "libbinder_ndk",
+        "libcutils",
         "liblog",
         "libutils",
         "libgrpc++",
diff --git a/automotive/remoteaccess/hal/default/include/RemoteAccessService.h b/automotive/remoteaccess/hal/default/include/RemoteAccessService.h
index 806440a..207c093 100644
--- a/automotive/remoteaccess/hal/default/include/RemoteAccessService.h
+++ b/automotive/remoteaccess/hal/default/include/RemoteAccessService.h
@@ -18,8 +18,11 @@
 
 #include <aidl/android/hardware/automotive/remoteaccess/ApState.h>
 #include <aidl/android/hardware/automotive/remoteaccess/BnRemoteAccess.h>
+#include <aidl/android/hardware/automotive/remoteaccess/BnRemoteTaskCallback.h>
 #include <aidl/android/hardware/automotive/remoteaccess/IRemoteTaskCallback.h>
 #include <android-base/thread_annotations.h>
+#include <android/binder_auto_utils.h>
+#include <utils/SystemClock.h>
 #include <wakeup_client.grpc.pb.h>
 
 #include <string>
@@ -30,6 +33,27 @@
 namespace automotive {
 namespace remoteaccess {
 
+// A IRemoteTaskCallback implementation for debug purpose.
+class DebugRemoteTaskCallback final
+    : public aidl::android::hardware::automotive::remoteaccess::BnRemoteTaskCallback {
+  public:
+    DebugRemoteTaskCallback() { mStartTimeMillis = android::uptimeMillis(); };
+
+    ndk::ScopedAStatus onRemoteTaskRequested(const std::string& clientId,
+                                             const std::vector<uint8_t>& data) override;
+    std::string printTasks();
+
+  private:
+    struct TaskData {
+        std::string clientId;
+        std::vector<uint8_t> data;
+    };
+
+    std::mutex mLock;
+    int64_t mStartTimeMillis;
+    std::vector<TaskData> mTasks;
+};
+
 class RemoteAccessService
     : public aidl::android::hardware::automotive::remoteaccess::BnRemoteAccess {
   public:
@@ -51,10 +75,14 @@
     ndk::ScopedAStatus notifyApStateChange(
             const aidl::android::hardware::automotive::remoteaccess::ApState& newState) override;
 
+    binder_status_t dump(int fd, const char** args, uint32_t numArgs) override;
+
   private:
     // For testing.
     friend class RemoteAccessServiceUnitTest;
 
+    static bool checkDumpPermission();
+
     WakeupClient::StubInterface* mGrpcStub;
     std::thread mThread;
     std::mutex mLock;
@@ -69,12 +97,14 @@
     bool mTaskLoopRunning GUARDED_BY(mStartStopTaskLoopLock);
     // Default wait time before retry connecting to remote access client is 10s.
     size_t mRetryWaitInMs = 10'000;
+    std::shared_ptr<DebugRemoteTaskCallback> mDebugCallback;
 
     void runTaskLoop();
     void maybeStartTaskLoop();
     void maybeStopTaskLoop();
 
     void setRetryWaitInMs(size_t retryWaitInMs) { mRetryWaitInMs = retryWaitInMs; }
+    void dumpHelp(int fd);
 };
 
 }  // namespace remoteaccess
diff --git a/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp b/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
index 6c297e3..cc8b50c 100644
--- a/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
+++ b/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
@@ -16,8 +16,10 @@
 
 #include "RemoteAccessService.h"
 
+#include <android-base/stringprintf.h>
 #include <android/binder_status.h>
 #include <grpc++/grpc++.h>
+#include <private/android_filesystem_config.h>
 #include <utils/Log.h>
 #include <chrono>
 #include <thread>
@@ -32,6 +34,8 @@
 using ::aidl::android::hardware::automotive::remoteaccess::ApState;
 using ::aidl::android::hardware::automotive::remoteaccess::IRemoteTaskCallback;
 using ::android::base::ScopedLockAssertion;
+using ::android::base::StringAppendF;
+using ::android::base::StringPrintf;
 using ::grpc::ClientContext;
 using ::grpc::ClientReaderInterface;
 using ::grpc::Status;
@@ -39,6 +43,10 @@
 using ::ndk::ScopedAStatus;
 
 const std::string WAKEUP_SERVICE_NAME = "com.google.vehicle.wakeup";
+constexpr char COMMAND_SET_AP_STATE[] = "--set-ap-state";
+constexpr char COMMAND_START_DEBUG_CALLBACK[] = "--start-debug-callback";
+constexpr char COMMAND_STOP_DEBUG_CALLBACK[] = "--stop-debug-callback";
+constexpr char COMMAND_SHOW_TASK[] = "--show-task";
 
 std::vector<uint8_t> stringToBytes(const std::string& s) {
     const char* data = s.data();
@@ -50,6 +58,18 @@
             status.error_code(), (errorMsg + ", error: " + status.error_message()).c_str());
 }
 
+std::string printBytes(const std::vector<uint8_t>& bytes) {
+    std::string s;
+    for (size_t i = 0; i < bytes.size(); i++) {
+        StringAppendF(&s, "%02x", bytes[i]);
+    }
+    return s;
+}
+
+bool checkBoolFlag(const char* flag) {
+    return !strcmp(flag, "1") || !strcmp(flag, "0");
+}
+
 }  // namespace
 
 RemoteAccessService::RemoteAccessService(WakeupClient::StubInterface* grpcStub)
@@ -154,7 +174,7 @@
 }
 
 ScopedAStatus RemoteAccessService::setRemoteTaskCallback(
-        [[maybe_unused]] const std::shared_ptr<IRemoteTaskCallback>& callback) {
+        const std::shared_ptr<IRemoteTaskCallback>& callback) {
     std::lock_guard<std::mutex> lockGuard(mLock);
     mRemoteTaskCallback = callback;
     return ScopedAStatus::ok();
@@ -184,6 +204,110 @@
     return ScopedAStatus::ok();
 }
 
+bool RemoteAccessService::checkDumpPermission() {
+    uid_t uid = AIBinder_getCallingUid();
+    return uid == AID_ROOT || uid == AID_SHELL || uid == AID_SYSTEM;
+}
+
+void RemoteAccessService::dumpHelp(int fd) {
+    dprintf(fd, "%s",
+            (std::string("RemoteAccess HAL debug interface, Usage: \n") + COMMAND_SET_AP_STATE +
+             " [0/1](isReadyForRemoteTask) [0/1](isWakeupRequired)  Set the new AP state\n" +
+             COMMAND_START_DEBUG_CALLBACK +
+             " Start a debug callback that will record the received tasks\n" +
+             COMMAND_STOP_DEBUG_CALLBACK + " Stop the debug callback\n" + COMMAND_SHOW_TASK +
+             " Show tasks received by debug callback\n")
+                    .c_str());
+}
+
+binder_status_t RemoteAccessService::dump(int fd, const char** args, uint32_t numArgs) {
+    if (!checkDumpPermission()) {
+        dprintf(fd, "Caller must be root, system or shell\n");
+        return STATUS_PERMISSION_DENIED;
+    }
+
+    if (numArgs == 0) {
+        dumpHelp(fd);
+        return STATUS_OK;
+    }
+
+    if (!strcmp(args[0], COMMAND_SET_AP_STATE)) {
+        if (numArgs < 3) {
+            dumpHelp(fd);
+            return STATUS_OK;
+        }
+        ApState apState = {};
+        const char* remoteTaskFlag = args[1];
+        if (!strcmp(remoteTaskFlag, "1") && !strcmp(remoteTaskFlag, "0")) {
+            dumpHelp(fd);
+            return STATUS_OK;
+        }
+        if (!checkBoolFlag(args[1])) {
+            dumpHelp(fd);
+            return STATUS_OK;
+        }
+        if (!strcmp(args[1], "1")) {
+            apState.isReadyForRemoteTask = true;
+        }
+        if (!checkBoolFlag(args[2])) {
+            dumpHelp(fd);
+            return STATUS_OK;
+        }
+        if (!strcmp(args[2], "1")) {
+            apState.isWakeupRequired = true;
+        }
+        auto status = notifyApStateChange(apState);
+        if (!status.isOk()) {
+            dprintf(fd, "Failed to set AP state, code: %d, error: %s\n", status.getStatus(),
+                    status.getMessage());
+        } else {
+            dprintf(fd, "successfully set the new AP state\n");
+        }
+    } else if (!strcmp(args[0], COMMAND_START_DEBUG_CALLBACK)) {
+        mDebugCallback = ndk::SharedRefBase::make<DebugRemoteTaskCallback>();
+        setRemoteTaskCallback(mDebugCallback);
+        dprintf(fd, "Debug callback registered\n");
+    } else if (!strcmp(args[0], COMMAND_STOP_DEBUG_CALLBACK)) {
+        if (mDebugCallback) {
+            mDebugCallback.reset();
+        }
+        clearRemoteTaskCallback();
+        dprintf(fd, "Debug callback unregistered\n");
+    } else if (!strcmp(args[0], COMMAND_SHOW_TASK)) {
+        if (mDebugCallback) {
+            dprintf(fd, "%s", mDebugCallback->printTasks().c_str());
+        } else {
+            dprintf(fd, "Debug callback is not currently used, use \"%s\" first.\n",
+                    COMMAND_START_DEBUG_CALLBACK);
+        }
+    } else {
+        dumpHelp(fd);
+    }
+
+    return STATUS_OK;
+}
+
+ScopedAStatus DebugRemoteTaskCallback::onRemoteTaskRequested(const std::string& clientId,
+                                                             const std::vector<uint8_t>& data) {
+    std::lock_guard<std::mutex> lockGuard(mLock);
+    mTasks.push_back({
+            .clientId = clientId,
+            .data = data,
+    });
+    return ScopedAStatus::ok();
+}
+
+std::string DebugRemoteTaskCallback::printTasks() {
+    std::lock_guard<std::mutex> lockGuard(mLock);
+    std::string s = StringPrintf("Received %zu tasks in %f seconds", mTasks.size(),
+                                 (android::uptimeMillis() - mStartTimeMillis) / 1000.);
+    for (size_t i = 0; i < mTasks.size(); i++) {
+        StringAppendF(&s, "Client Id: %s, Data: %s\n", mTasks[i].clientId.c_str(),
+                      printBytes(mTasks[i].data).c_str());
+    }
+    return s;
+}
+
 }  // namespace remoteaccess
 }  // namespace automotive
 }  // namespace hardware
diff --git a/automotive/remoteaccess/hal/default/test/Android.bp b/automotive/remoteaccess/hal/default/test/Android.bp
index e92440f..bf7d0b6 100644
--- a/automotive/remoteaccess/hal/default/test/Android.bp
+++ b/automotive/remoteaccess/hal/default/test/Android.bp
@@ -24,6 +24,7 @@
         "RemoteAccessService",
     ],
     shared_libs: [
+        "libbase",
         "libbinder_ndk",
         "liblog",
         "libutils",