diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index c138c19d79..fcb78c2799 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -258,6 +258,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(stats, "STAT", 27, AP_Vehicle, AP_Stats),
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    // @Group: SCR_
+    // @Path: ../AP_Scripting/AP_Scripting.cpp
+    AP_SUBGROUPINFO(scripting, "SCR_", 28, AP_Vehicle, AP_Scripting),
+#endif
+
     AP_GROUPEND
 };
 
@@ -367,6 +373,10 @@ void AP_Vehicle::setup()
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
+#if AP_SCRIPTING_ENABLED
+    scripting.init();
+#endif // AP_SCRIPTING_ENABLED
+
 #if AP_AIRSPEED_ENABLED
     airspeed.init();
     if (airspeed.enabled()) {
@@ -976,10 +986,7 @@ void AP_Vehicle::one_Hz_update(void)
     }
 
 #if AP_SCRIPTING_ENABLED
-    AP_Scripting *scripting = AP_Scripting::get_singleton();
-    if (scripting != nullptr) {
-        scripting->update();
-    }
+    scripting.update();
 #endif
 
 }
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 32e0f3150c..3e38ac9b63 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -69,6 +69,9 @@
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <Filter/AP_Filter.h>
 #include <AP_Stats/AP_Stats.h>              // statistics library
+#if AP_SCRIPTING_ENABLED
+#include <AP_Scripting/AP_Scripting.h>
+#endif
 
 class AP_DDS_Client;
 
@@ -415,6 +418,10 @@ protected:
     AP_TemperatureSensor temperature_sensor;
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    AP_Scripting scripting;
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Scheduler::Task scheduler_tasks[];