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It is well known that two representative methods satisfy the EURO4 emission regulation. The one is the EGR system that reduces NOx by using EGR (Exhaust Gas Recirculation) and eliminates PM (Particulate Matter) by DPF (Diesel Particulate Filter). But this system has disadvantages of fuel efficiency and requirement for larger engine cooling capacity. The other is SCR (Selective Catalyst Reduction) system that reduces NOx by dosing reagent into exhaust gas. The SCR system also needs to decrease PM by optimization of combustion. The SCR system has advantages of fuel economy and good engine durability. As the price of oil goes up, the commercial vehicle drivers are more concerned about the fuel economy lately, so the European major manufacturer of commercial vehicle adopted the SCR system because of above mentioned advantages. This paper focused on the development of EURO4 engine and commercial vehicle equipped with SCR system.