diff --git a/src/xrt/auxiliary/util/CMakeLists.txt b/src/xrt/auxiliary/util/CMakeLists.txt
index c185d226d..1c2ed3670 100644
--- a/src/xrt/auxiliary/util/CMakeLists.txt
+++ b/src/xrt/auxiliary/util/CMakeLists.txt
@@ -80,6 +80,8 @@ add_library(
 	u_trace_marker.h
 	u_var.cpp
 	u_var.h
+	u_vector.cpp
+	u_vector.h
 	u_config_json.c
 	u_config_json.h
 	u_verify.h
diff --git a/src/xrt/auxiliary/util/u_vector.cpp b/src/xrt/auxiliary/util/u_vector.cpp
new file mode 100644
index 000000000..3a9624f4f
--- /dev/null
+++ b/src/xrt/auxiliary/util/u_vector.cpp
@@ -0,0 +1,44 @@
+// Copyright 2022, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Expose std::vector to C
+ * @author Mateo de Mayo <mateo.demayo@collabora.com>
+ * @ingroup aux_util
+ */
+
+#include "u_vector.h"
+#include <vector>
+
+using std::vector;
+
+#define U_VECTOR_IMPLEMENTATION(TYPE)                                                                                  \
+	u_vector_##TYPE u_vector_##TYPE##_create()                                                                     \
+	{                                                                                                              \
+		u_vector_##TYPE uv{new vector<TYPE>};                                                                  \
+		return uv;                                                                                             \
+	}                                                                                                              \
+                                                                                                                       \
+	void u_vector_##TYPE##_push_back(u_vector_##TYPE uv, TYPE e)                                                   \
+	{                                                                                                              \
+		vector<TYPE> *v = static_cast<vector<TYPE> *>(uv.ptr);                                                 \
+		v->push_back(e);                                                                                       \
+	}                                                                                                              \
+                                                                                                                       \
+	TYPE u_vector_##TYPE##_at(u_vector_##TYPE uv, size_t i)                                                        \
+	{                                                                                                              \
+		vector<TYPE> *v = static_cast<vector<TYPE> *>(uv.ptr);                                                 \
+		return v->at(i);                                                                                       \
+	}                                                                                                              \
+                                                                                                                       \
+	void u_vector_##TYPE##_destroy(u_vector_##TYPE *uv)                                                            \
+	{                                                                                                              \
+		vector<TYPE> *v = static_cast<vector<TYPE> *>(uv->ptr);                                                \
+		delete v;                                                                                              \
+		uv->ptr = nullptr;                                                                                     \
+	}
+
+extern "C" {
+U_VECTOR_IMPLEMENTATION(int)
+U_VECTOR_IMPLEMENTATION(float)
+}
diff --git a/src/xrt/auxiliary/util/u_vector.h b/src/xrt/auxiliary/util/u_vector.h
new file mode 100644
index 000000000..761665b9e
--- /dev/null
+++ b/src/xrt/auxiliary/util/u_vector.h
@@ -0,0 +1,33 @@
+// Copyright 2022, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Expose std::vector to C
+ * @author Mateo de Mayo <mateo.demayo@collabora.com>
+ * @ingroup aux_util
+ */
+
+#pragma once
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define U_VECTOR_DECLARATION(TYPE)                                                                                     \
+	struct u_vector_##TYPE                                                                                         \
+	{                                                                                                              \
+		void *ptr;                                                                                             \
+	};                                                                                                             \
+	struct u_vector_##TYPE u_vector_##TYPE##_create();                                                             \
+	void u_vector_##TYPE##_push_back(struct u_vector_##TYPE uv, TYPE e);                                           \
+	TYPE u_vector_##TYPE##_at(struct u_vector_##TYPE uv, size_t i);                                                \
+	void u_vector_##TYPE##_destroy(struct u_vector_##TYPE *uv);
+
+U_VECTOR_DECLARATION(int)
+U_VECTOR_DECLARATION(float)
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 8bb004adf..7607270c4 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -21,6 +21,7 @@ set(tests
 	tests_pacing
 	tests_quatexpmap
 	tests_rational
+	tests_vector
 	tests_worker
 	tests_pose
 	)
diff --git a/tests/tests_vector.cpp b/tests/tests_vector.cpp
new file mode 100644
index 000000000..dc272d146
--- /dev/null
+++ b/tests/tests_vector.cpp
@@ -0,0 +1,38 @@
+// Copyright 2022, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief Test u_vector C interface.
+ * @author Mateo de Mayo <mateo.demayo@collabora.com>
+ */
+
+#include "catch/catch.hpp"
+#include "util/u_vector.h"
+
+TEST_CASE("u_vector")
+{
+	SECTION("Test interface generated from macros")
+	{
+		struct u_vector_float vf = u_vector_float_create();
+		CHECK(vf.ptr != NULL);
+
+		constexpr float A = 2.71f;
+		constexpr float B = 1.61f;
+		constexpr float C = 3.14f;
+
+		u_vector_float_push_back(vf, A);
+		u_vector_float_push_back(vf, B);
+		u_vector_float_push_back(vf, C);
+
+		float a = u_vector_float_at(vf, 0);
+		float b = u_vector_float_at(vf, 1);
+		float c = u_vector_float_at(vf, 2);
+
+		CHECK(a == A);
+		CHECK(b == B);
+		CHECK(c == C);
+
+		u_vector_float_destroy(&vf);
+		CHECK(vf.ptr == NULL);
+	}
+}