Vehicle communication(VC) has recently risen to the top of the list of electrical requirements for intelligent vehicles and systems. Modern vehicles rely heavily on electronic communications. Equipped with up to 80 ECUs, they communicate with each other via CAN bus. Controller Area Network(CAN) is an embedded network protocol that is used in modern-day automobiles. Similar to the nervous system, the Control Area Network (CAN bus) enables communication between every body part. The CAN bus, which serves as a central networking system, is used to connect nodes or electronic control units (ECU). The CAN bus in automobiles connects any component, including the audio system, airbags, and engine control unit. However, because it makes it easy for unauthorized access to be granted, CAN is susceptible to malicious security assaults and thus communication over the CAN bus is not secure. In this paper we have implemented the Hash Message Authentication Code(HMAC) algorithm which uses an SHA-256 cryptographic hash function to achieve secure communication between two ECUs. To demonstrate the secure communication between the ECUs, we have used two Arduino UNO boards as the ECUs and the MCP2515 module as the CAN bus.