diff --git a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
index 3f5e4c4..46c67a5 100644
--- a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
+++ b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
@@ -1808,6 +1808,7 @@
 
 void FakeVehicleHardware::registerOnPropertySetErrorEvent(
         std::unique_ptr<const PropertySetErrorCallback> callback) {
+    // In FakeVehicleHardware, we will never use mOnPropertySetErrorCallback.
     if (mOnPropertySetErrorCallback != nullptr) {
         ALOGE("registerOnPropertySetErrorEvent must only be called once");
         return;
diff --git a/automotive/vehicle/aidl/impl/vhal/include/ConnectedClient.h b/automotive/vehicle/aidl/impl/vhal/include/ConnectedClient.h
index 2e7298f..b3f4a0f 100644
--- a/automotive/vehicle/aidl/impl/vhal/include/ConnectedClient.h
+++ b/automotive/vehicle/aidl/impl/vhal/include/ConnectedClient.h
@@ -107,12 +107,18 @@
     // Gets the callback to be called when the request for this client has finished.
     std::shared_ptr<const IVehicleHardware::GetValuesCallback> getResultCallback();
 
-    // Marshals the updated values into largeParcelable and sents it through {@code onPropertyEvent}
+    // Marshals the updated values into largeParcelable and sends it through {@code onPropertyEvent}
     // callback.
     static void sendUpdatedValues(
             CallbackType callback,
             std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropValue>&&
                     updatedValues);
+    // Marshals the set property error events into largeParcelable and sends it through
+    // {@code onPropertySetError} callback.
+    static void sendPropertySetErrors(
+            CallbackType callback,
+            std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropError>&&
+                    vehiclePropErrors);
 
   protected:
     // Gets the callback to be called when the request for this client has timeout.
diff --git a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
index 2c2cf1a..74ad7ea 100644
--- a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
+++ b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
@@ -249,10 +249,14 @@
             const CallbackType& callback, std::shared_ptr<PendingRequestPool> pendingRequestPool);
 
     static void onPropertyChangeEvent(
-            std::weak_ptr<SubscriptionManager> subscriptionManager,
+            const std::weak_ptr<SubscriptionManager>& subscriptionManager,
             const std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropValue>&
                     updatedValues);
 
+    static void onPropertySetErrorEvent(
+            const std::weak_ptr<SubscriptionManager>& subscriptionManager,
+            const std::vector<SetValueErrorEvent>& errorEvents);
+
     static void checkHealth(IVehicleHardware* hardware,
                             std::weak_ptr<SubscriptionManager> subscriptionManager);
 
diff --git a/automotive/vehicle/aidl/impl/vhal/include/SubscriptionManager.h b/automotive/vehicle/aidl/impl/vhal/include/SubscriptionManager.h
index 14799d9..301d56c 100644
--- a/automotive/vehicle/aidl/impl/vhal/include/SubscriptionManager.h
+++ b/automotive/vehicle/aidl/impl/vhal/include/SubscriptionManager.h
@@ -99,6 +99,12 @@
             const std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropValue>&
                     updatedValues);
 
+    // For a list of set property error events, returns a map that maps clients subscribing to the
+    // properties to a list of errors for each client.
+    std::unordered_map<CallbackType,
+                       std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropError>>
+    getSubscribedClientsForErrorEvents(const std::vector<SetValueErrorEvent>& errorEvents);
+
     // Checks whether the sample rate is valid.
     static bool checkSampleRateHz(float sampleRateHz);
 
diff --git a/automotive/vehicle/aidl/impl/vhal/src/ConnectedClient.cpp b/automotive/vehicle/aidl/impl/vhal/src/ConnectedClient.cpp
index 81d231c..fb23a25 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/ConnectedClient.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/ConnectedClient.cpp
@@ -38,6 +38,8 @@
 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::VehiclePropError;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropErrors;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropValues;
 using ::android::base::Result;
@@ -300,7 +302,34 @@
     if (ScopedAStatus callbackStatus =
                 callback->onPropertyEvent(vehiclePropValues, sharedMemoryFileCount);
         !callbackStatus.isOk()) {
-        ALOGE("subscribe: failed to call UpdateValues callback, client ID: %p, error: %s, "
+        ALOGE("subscribe: failed to call onPropertyEvent callback, client ID: %p, error: %s, "
+              "exception: %d, service specific error: %d",
+              callback->asBinder().get(), callbackStatus.getMessage(),
+              callbackStatus.getExceptionCode(), callbackStatus.getServiceSpecificError());
+    }
+}
+
+void SubscriptionClient::sendPropertySetErrors(std::shared_ptr<IVehicleCallback> callback,
+                                               std::vector<VehiclePropError>&& vehiclePropErrors) {
+    if (vehiclePropErrors.empty()) {
+        return;
+    }
+
+    VehiclePropErrors vehiclePropErrorsLargeParcelable;
+    ScopedAStatus status = vectorToStableLargeParcelable(std::move(vehiclePropErrors),
+                                                         &vehiclePropErrorsLargeParcelable);
+    if (!status.isOk()) {
+        int statusCode = status.getServiceSpecificError();
+        ALOGE("subscribe: failed to marshal result into large parcelable, error: "
+              "%s, code: %d",
+              status.getMessage(), statusCode);
+        return;
+    }
+
+    if (ScopedAStatus callbackStatus =
+                callback->onPropertySetError(vehiclePropErrorsLargeParcelable);
+        !callbackStatus.isOk()) {
+        ALOGE("subscribe: failed to call onPropertySetError callback, client ID: %p, error: %s, "
               "exception: %d, service specific error: %d",
               callback->asBinder().get(), callbackStatus.getMessage(),
               callbackStatus.getExceptionCode(), callbackStatus.getServiceSpecificError());
diff --git a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
index 98cfc39..0d5c070 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
@@ -144,6 +144,11 @@
                     [subscriptionManagerCopy](std::vector<VehiclePropValue> updatedValues) {
                         onPropertyChangeEvent(subscriptionManagerCopy, updatedValues);
                     }));
+    mVehicleHardware->registerOnPropertySetErrorEvent(
+            std::make_unique<IVehicleHardware::PropertySetErrorCallback>(
+                    [subscriptionManagerCopy](std::vector<SetValueErrorEvent> errorEvents) {
+                        onPropertySetErrorEvent(subscriptionManagerCopy, errorEvents);
+                    }));
 
     // Register heartbeat event.
     mRecurrentAction = std::make_shared<std::function<void()>>(
@@ -177,7 +182,7 @@
 }
 
 void DefaultVehicleHal::onPropertyChangeEvent(
-        std::weak_ptr<SubscriptionManager> subscriptionManager,
+        const std::weak_ptr<SubscriptionManager>& subscriptionManager,
         const std::vector<VehiclePropValue>& updatedValues) {
     auto manager = subscriptionManager.lock();
     if (manager == nullptr) {
@@ -194,6 +199,20 @@
     }
 }
 
+void DefaultVehicleHal::onPropertySetErrorEvent(
+        const std::weak_ptr<SubscriptionManager>& subscriptionManager,
+        const std::vector<SetValueErrorEvent>& errorEvents) {
+    auto manager = subscriptionManager.lock();
+    if (manager == nullptr) {
+        ALOGW("the SubscriptionManager is destroyed, DefaultVehicleHal is ending");
+        return;
+    }
+    auto vehiclePropErrorsByClient = manager->getSubscribedClientsForErrorEvents(errorEvents);
+    for (auto& [callback, vehiclePropErrors] : vehiclePropErrorsByClient) {
+        SubscriptionClient::sendPropertySetErrors(callback, std::move(vehiclePropErrors));
+    }
+}
+
 template <class T>
 std::shared_ptr<T> DefaultVehicleHal::getOrCreateClient(
         std::unordered_map<const AIBinder*, std::shared_ptr<T>>* clients,
@@ -692,15 +711,19 @@
         // Create a new SubscriptionClient if there isn't an existing one.
         mSubscriptionClients->maybeAddClient(callback);
 
-        // Since we have already check the sample rates, the following functions must succeed.
         if (!onChangeSubscriptions.empty()) {
-            return toScopedAStatus(mSubscriptionManager->subscribe(callback, onChangeSubscriptions,
-                                                                   /*isContinuousProperty=*/false));
+            auto result = mSubscriptionManager->subscribe(callback, onChangeSubscriptions,
+                                                          /*isContinuousProperty=*/false);
+            if (!result.ok()) {
+                return toScopedAStatus(result);
+            }
         }
         if (!continuousSubscriptions.empty()) {
-            return toScopedAStatus(mSubscriptionManager->subscribe(callback,
-                                                                   continuousSubscriptions,
-                                                                   /*isContinuousProperty=*/true));
+            auto result = mSubscriptionManager->subscribe(callback, continuousSubscriptions,
+                                                          /*isContinuousProperty=*/true);
+            if (!result.ok()) {
+                return toScopedAStatus(result);
+            }
         }
     }
     return ScopedAStatus::ok();
diff --git a/automotive/vehicle/aidl/impl/vhal/src/SubscriptionManager.cpp b/automotive/vehicle/aidl/impl/vhal/src/SubscriptionManager.cpp
index bba730f..1f2690e 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/SubscriptionManager.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/SubscriptionManager.cpp
@@ -36,6 +36,7 @@
 using ::aidl::android::hardware::automotive::vehicle::IVehicleCallback;
 using ::aidl::android::hardware::automotive::vehicle::StatusCode;
 using ::aidl::android::hardware::automotive::vehicle::SubscribeOptions;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropError;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropValue;
 using ::android::base::Error;
 using ::android::base::Result;
@@ -269,6 +270,32 @@
     return clients;
 }
 
+std::unordered_map<std::shared_ptr<IVehicleCallback>, std::vector<VehiclePropError>>
+SubscriptionManager::getSubscribedClientsForErrorEvents(
+        const std::vector<SetValueErrorEvent>& errorEvents) {
+    std::scoped_lock<std::mutex> lockGuard(mLock);
+    std::unordered_map<std::shared_ptr<IVehicleCallback>, std::vector<VehiclePropError>> clients;
+
+    for (const auto& errorEvent : errorEvents) {
+        PropIdAreaId propIdAreaId{
+                .propId = errorEvent.propId,
+                .areaId = errorEvent.areaId,
+        };
+        if (mClientsByPropIdArea.find(propIdAreaId) == mClientsByPropIdArea.end()) {
+            continue;
+        }
+
+        for (const auto& [_, client] : mClientsByPropIdArea[propIdAreaId]) {
+            clients[client].push_back({
+                    .propId = errorEvent.propId,
+                    .areaId = errorEvent.areaId,
+                    .errorCode = errorEvent.errorCode,
+            });
+        }
+    }
+    return clients;
+}
+
 bool SubscriptionManager::isEmpty() {
     std::scoped_lock<std::mutex> lockGuard(mLock);
     return mSubscribedPropsByClient.empty() && mClientsByPropIdArea.empty();
diff --git a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
index 05e569a..96b71f0 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
@@ -62,6 +62,7 @@
 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::VehiclePropError;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropErrors;
 using ::aidl::android::hardware::automotive::vehicle::VehicleProperty;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyAccess;
@@ -1653,6 +1654,63 @@
     ASSERT_EQ(msg.find("Vehicle HAL State: "), std::string::npos);
 }
 
+TEST_F(DefaultVehicleHalTest, testOnPropertySetErrorEvent) {
+    std::vector<SubscribeOptions> options = {
+            {
+                    .propId = GLOBAL_ON_CHANGE_PROP,
+                    .areaIds = {0},
+            },
+            {
+                    .propId = GLOBAL_CONTINUOUS_PROP,
+                    .areaIds = {0},
+                    .sampleRate = 1,
+            },
+    };
+    auto status = getClient()->subscribe(getCallbackClient(), options, 0);
+    ASSERT_TRUE(status.isOk()) << "subscribe failed: " << status.getMessage();
+    std::vector<SetValueErrorEvent> errorEvents = {
+            {
+                    .propId = GLOBAL_ON_CHANGE_PROP,
+                    .areaId = 0,
+                    .errorCode = StatusCode::INTERNAL_ERROR,
+            },
+            {
+                    .propId = GLOBAL_ON_CHANGE_PROP,
+                    .areaId = 0,
+                    .errorCode = StatusCode::ACCESS_DENIED,
+            },
+            {
+                    .propId = GLOBAL_CONTINUOUS_PROP,
+                    .areaId = 0,
+                    .errorCode = StatusCode::INVALID_ARG,
+            },
+    };
+    std::vector<VehiclePropError> expectedResults = {
+            {
+                    .propId = GLOBAL_ON_CHANGE_PROP,
+                    .areaId = 0,
+                    .errorCode = StatusCode::INTERNAL_ERROR,
+            },
+            {
+                    .propId = GLOBAL_ON_CHANGE_PROP,
+                    .areaId = 0,
+                    .errorCode = StatusCode::ACCESS_DENIED,
+            },
+            {
+                    .propId = GLOBAL_CONTINUOUS_PROP,
+                    .areaId = 0,
+                    .errorCode = StatusCode::INVALID_ARG,
+            },
+    };
+    getHardware()->sendOnPropertySetErrorEvent(errorEvents);
+
+    ASSERT_EQ(getCallback()->countOnPropertySetErrorResults(), 1u);
+    auto maybeVehiclePropErrors = getCallback()->nextOnPropertySetErrorResults();
+    ASSERT_TRUE(maybeVehiclePropErrors.has_value());
+    const auto& vehiclePropErrors = maybeVehiclePropErrors.value();
+    ASSERT_THAT(vehiclePropErrors.payloads, UnorderedElementsAreArray(expectedResults));
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp
index f51ce5c..54fede1 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.cpp
@@ -81,8 +81,14 @@
     return result;
 }
 
-ScopedAStatus MockVehicleCallback::onPropertySetError(const VehiclePropErrors&) {
-    return ScopedAStatus::ok();
+ScopedAStatus MockVehicleCallback::onPropertySetError(const VehiclePropErrors& results) {
+    ScopedAStatus result;
+    {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
+        result = storeResults(results, &mOnPropertySetErrorResults);
+    }
+    mCond.notify_all();
+    return result;
 }
 
 std::optional<GetValueResults> MockVehicleCallback::nextGetValueResults() {
@@ -105,6 +111,16 @@
     return mOnPropertyEventResults.size();
 }
 
+std::optional<VehiclePropErrors> MockVehicleCallback::nextOnPropertySetErrorResults() {
+    std::scoped_lock<std::mutex> lockGuard(mLock);
+    return pop(mOnPropertySetErrorResults);
+}
+
+size_t MockVehicleCallback::countOnPropertySetErrorResults() {
+    std::scoped_lock<std::mutex> lockGuard(mLock);
+    return mOnPropertySetErrorResults.size();
+}
+
 bool MockVehicleCallback::waitForSetValueResults(size_t size, size_t timeoutInNano) {
     std::unique_lock lk(mLock);
     return mCond.wait_for(lk, std::chrono::nanoseconds(timeoutInNano), [this, size] {
diff --git a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h
index f17b273..1545eae 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h
+++ b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleCallback.h
@@ -63,6 +63,9 @@
     nextSetValueResults();
     std::optional<aidl::android::hardware::automotive::vehicle::VehiclePropValues>
     nextOnPropertyEventResults();
+    size_t countOnPropertySetErrorResults();
+    std::optional<aidl::android::hardware::automotive::vehicle::VehiclePropErrors>
+    nextOnPropertySetErrorResults();
     size_t countOnPropertyEventResults();
     bool waitForSetValueResults(size_t size, size_t timeoutInNano);
     bool waitForGetValueResults(size_t size, size_t timeoutInNano);
@@ -77,6 +80,8 @@
     std::list<aidl::android::hardware::automotive::vehicle::VehiclePropValues>
             mOnPropertyEventResults GUARDED_BY(mLock);
     int32_t mSharedMemoryFileCount GUARDED_BY(mLock);
+    std::list<aidl::android::hardware::automotive::vehicle::VehiclePropErrors>
+            mOnPropertySetErrorResults GUARDED_BY(mLock);
 };
 
 }  // namespace vehicle
diff --git a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.cpp b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.cpp
index 4df4e1a..ba0d33d 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.cpp
@@ -131,8 +131,9 @@
 }
 
 void MockVehicleHardware::registerOnPropertySetErrorEvent(
-        std::unique_ptr<const PropertySetErrorCallback>) {
-    // TODO(b/200737967): mock this.
+        std::unique_ptr<const PropertySetErrorCallback> callback) {
+    std::scoped_lock<std::mutex> lockGuard(mLock);
+    mPropertySetErrorCallback = std::move(callback);
 }
 
 void MockVehicleHardware::setPropertyConfigs(const std::vector<VehiclePropConfig>& configs) {
@@ -254,6 +255,12 @@
         std::list<std::vector<SetValueRequest>>* storedRequests,
         std::list<std::vector<SetValueResult>>* storedResponses) const;
 
+void MockVehicleHardware::sendOnPropertySetErrorEvent(
+        const std::vector<SetValueErrorEvent>& errorEvents) {
+    std::scoped_lock<std::mutex> lockGuard(mLock);
+    (*mPropertySetErrorCallback)(errorEvents);
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.h b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.h
index 743841c..46b30b9 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.h
+++ b/automotive/vehicle/aidl/impl/vhal/test/MockVehicleHardware.h
@@ -85,6 +85,7 @@
                    aidl::android::hardware::automotive::vehicle::StatusCode status);
     void setSleepTime(int64_t timeInNano);
     void setDumpResult(DumpResult result);
+    void sendOnPropertySetErrorEvent(const std::vector<SetValueErrorEvent>& errorEvents);
 
   private:
     mutable std::mutex mLock;
@@ -104,6 +105,7 @@
             mStatusByFunctions GUARDED_BY(mLock);
     int64_t mSleepTime GUARDED_BY(mLock) = 0;
     std::unique_ptr<const PropertyChangeCallback> mPropertyChangeCallback GUARDED_BY(mLock);
+    std::unique_ptr<const PropertySetErrorCallback> mPropertySetErrorCallback GUARDED_BY(mLock);
     std::function<aidl::android::hardware::automotive::vehicle::StatusCode(
             std::shared_ptr<const GetValuesCallback>,
             const std::vector<aidl::android::hardware::automotive::vehicle::GetValueRequest>&)>