Recently, as the current and future emission regulations go stringent, the research of NOx reduction has become a subject of increasing interest and attention in diesel engine. Selective Catalytic Reduction (SCR) is one of the effective technology to reduce NOx emission from diesel engine. Especially, Urea-SCR that uses urea as a reductant is becoming increasingly popular as a cost effective way of reducing NOx emissions from heavy duty vehicles. In this research, we designed urea injector and DCU (Dosing Control Unit) specially developed for controlling the Urea-SCR process onboard vehicles. As passenger and commercial diesel engine experiment, we grasped characteristics of NOx emission and SCR catalyst temperature level in advance. As a result, highest NOx emission level was shown in condition of low engine speed and high load. On the other hand, SCR catalyst temperature was highest at high engine speed and load. On the basis of these result, we conducted the NOx reduction test at steady engine operating conditions using the urea injector and DCU. It was shown that 74% NOx conversion efficiency on the average and 97% NOx conversion efficiency was obtained at high SCR catalyst temperature.