Selective Catalytic Reduction is effective in the reduction of NOx emission. This research focused to evaluate the performance of a urea-SCR system and was conducted in two procedures. One is SCR reactor test using model gas in order to provide an optimal injection condition itself. In this step, some parametric study on emission temperature, space velocity, aspect ratio and the formation of urea spray were made by using flow visualization and Computation Fluid Dynamics techniques. The basic simulation results contributed in determining the layout for an actual engine test. The other is an engine performance and emission test. The urea injector was placed at the opposite direction of exhaust gases emitted into an exhaust duct and an optimal amount of a reducing agent is estimated accurately under different engine loads and speeds. Furthermore, the variation of NOx emission and applied amount of urea was investigated in terms of modes under the condition of with and without SCR, and other emissions such as PM, CO and NMHC were evaluated quantitatively as well. This research may provide fundamental data for the practical use of urea-SCR in future.