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Camp Vicente Lim used to a vast track of land in the early 1937. It became training ground during the mobilization period sometime in 1937, when American forces started to call able bodied young men to go on military training due to the outbreak of war in the western hemisphere.

On September 1, 1941, the 41 st filed Artillery Regiment Philippine Army was mobilized in this camp. The barracks used during the training were set on fire when the Japanese Army invaded the country.On September 8, 1946, it became the Headquarters of the 4 th Military district which covers the whole southern Luzon. The camp became was then named Camp Paciano Rizal. The camp became the Headquarters of the II Military Area command which has jurisdiction over the fourteen provinces in Southern Luzon excluding Masbate and Romblon.

On September 10, 1951 Camp Paciano Rizal was renamed Camp Vicente Lim pursuant to GO Nr. 457, GHQ, AFP in honor of Brig. General Vicente P Lim who commanded the 41 st Infantry Division, Philippine Army USAFFE in Bataan during World War II. The former colonel Eulogio Balao, then commander of the II Military area command initiated the renaming of Camp Paciano Rizal to Camp Vicente Lim.

In 1964, when the Philippine Constabulary became a major service of the AFP and was separated from the Philippine Army. The Camp became the Headquarters of the II Philippine Constabulary Zone which took over from the Philippine Army the responsibility of Anti-Hukbong Magpapalaya ng Bayan (AHMB) and the Law Enforcement and Peace and Order Campaigns.

Finally, in 1975, the lot was donated to the AFP by the Yulo family. The deed of transfer was signed by the late Jose Yulo Jr and accepted by former president Ferdinand E Marcos. In July 1978, the II Philippine Constabulary Zone was deactivated but subsequently divided into two (2) regional commands, namely: the Regional Command 4A under then B/Gen Andres B Ramos, AFP (Ret) (Former TF Comdr, TF Banahaw) established its Headquarters at Camp Wilhelm, Lucena City, Quezon.

Its jurisdiction over the provinces of Cavite, Laguna, Batangas, Rizal, Quezon, Mindoro Occidental, Oriental Mindoro, Romblon, Marinduque, and Palawan while the Regional Command 5 under B/Gen Clemente Racela, AFP (Ret) (Former TF ISAROG Comdr) Legaspi City and has jurisdiction over the Bicol Provinces.

On 01 April 1981, the Camp became the Headquarters of the INP Training Command (HINPTC) under B/Gen Arcado S Lazoda, AFP (Ret) while the Headquarters Philippine National Police Academy (PNPA) under B/Gen Rene Cruz, AFP (Ret) was collocated inside the Camp.