diff --git a/packages/vant/src/picker/Picker.tsx b/packages/vant/src/picker/Picker.tsx
index 993d2adee..9a61a86e0 100644
--- a/packages/vant/src/picker/Picker.tsx
+++ b/packages/vant/src/picker/Picker.tsx
@@ -83,7 +83,14 @@ export default defineComponent({
 
   props: pickerProps,
 
-  emits: ['confirm', 'cancel', 'change', 'clickOption', 'update:modelValue'],
+  emits: [
+    'confirm',
+    'cancel',
+    'change',
+    'scrollInto',
+    'clickOption',
+    'update:modelValue',
+  ],
 
   setup(props, { emit, slots }) {
     const columnsRef = ref<HTMLElement>();
@@ -165,11 +172,14 @@ export default defineComponent({
       });
     };
 
-    const onClickOption = (currentOption: PickerOption, columnIndex: number) =>
-      emit(
-        'clickOption',
-        extend({ columnIndex, currentOption }, getEventParams())
-      );
+    const onClickOption = (
+      currentOption: PickerOption,
+      columnIndex: number
+    ) => {
+      const params = { columnIndex, currentOption };
+      emit('clickOption', extend(getEventParams(), params));
+      emit('scrollInto', params);
+    };
 
     const confirm = () => {
       children.forEach((child) => child.stopMomentum());
@@ -202,6 +212,12 @@ export default defineComponent({
           onClickOption={(option: PickerOption) =>
             onClickOption(option, columnIndex)
           }
+          onScrollInto={(option: PickerOption) => {
+            emit('scrollInto', {
+              currentOption: option,
+              columnIndex,
+            });
+          }}
         />
       ));
 
diff --git a/packages/vant/src/picker/PickerColumn.tsx b/packages/vant/src/picker/PickerColumn.tsx
index 4e22df702..42357a75b 100644
--- a/packages/vant/src/picker/PickerColumn.tsx
+++ b/packages/vant/src/picker/PickerColumn.tsx
@@ -1,5 +1,6 @@
 import {
   ref,
+  computed,
   watchEffect,
   defineComponent,
   type PropType,
@@ -56,7 +57,7 @@ export default defineComponent({
     visibleOptionNum: makeRequiredProp(numericProp),
   },
 
-  emits: ['change', 'clickOption'],
+  emits: ['change', 'clickOption', 'scrollInto'],
 
   setup(props, { emit, slots }) {
     let moving: boolean;
@@ -113,6 +114,8 @@ export default defineComponent({
     const getIndexByOffset = (offset: number) =>
       clamp(Math.round(-offset / props.optionHeight), 0, count() - 1);
 
+    const currentIndex = computed(() => getIndexByOffset(currentOffset.value));
+
     const momentum = (distance: number, duration: number) => {
       const speed = Math.abs(distance / duration);
 
@@ -166,16 +169,23 @@ export default defineComponent({
         preventDefault(event, true);
       }
 
-      currentOffset.value = clamp(
+      const newOffset = clamp(
         startOffset + touch.deltaY.value,
         -(count() * props.optionHeight),
         props.optionHeight
       );
 
+      const newIndex = getIndexByOffset(newOffset);
+      if (newIndex !== currentIndex.value) {
+        emit('scrollInto', props.options[newIndex]);
+      }
+
+      currentOffset.value = newOffset;
+
       const now = Date.now();
       if (now - touchStartTime > MOMENTUM_TIME) {
         touchStartTime = now;
-        momentumOffset = currentOffset.value;
+        momentumOffset = newOffset;
       }
     };
 
diff --git a/packages/vant/src/picker/README.md b/packages/vant/src/picker/README.md
index cec62bfab..43c3153d4 100644
--- a/packages/vant/src/picker/README.md
+++ b/packages/vant/src/picker/README.md
@@ -357,8 +357,9 @@ export default {
 | --- | --- | --- |
 | confirm | Emitted when the confirm button is clicked | _{ selectedValues, selectedOptions, selectedIndexes }_ |
 | cancel | Emitted when the cancel button is clicked | _{ selectedValues, selectedOptions, selectedIndexes }_ |
-| change | Emitted when current option is changed | _{ selectedValues, selectedOptions,selectedIndexes, columnIndex }_ |
+| change | Emitted when current selected option is changed | _{ selectedValues, selectedOptions,selectedIndexes, columnIndex }_ |
 | click-option | Emitted when an option is clicked | _{ currentOption, selectedValues, selectedOptions, selectedIndexes, columnIndex }_ |
+| scroll-into `v4.2.1` | Emitted when an option is scrolled into the middle selection area by clicking or dragging | _{ currentOption, columnIndex }_ |
 
 ### Slots
 
diff --git a/packages/vant/src/picker/README.zh-CN.md b/packages/vant/src/picker/README.zh-CN.md
index 3e7e88e6f..e95d2655d 100644
--- a/packages/vant/src/picker/README.zh-CN.md
+++ b/packages/vant/src/picker/README.zh-CN.md
@@ -378,8 +378,9 @@ export default {
 | --- | --- | --- |
 | confirm | 点击完成按钮时触发 | _{ selectedValues, selectedOptions, selectedIndexes }_ |
 | cancel | 点击取消按钮时触发 | _{ selectedValues, selectedOptions, selectedIndexes }_ |
-| change | 选项改变时触发 | _{ selectedValues, selectedOptions, selectedIndexes, columnIndex }_ |
+| change | 选中的选项改变时触发 | _{ selectedValues, selectedOptions, selectedIndexes, columnIndex }_ |
 | click-option | 点击选项时触发 | _{ currentOption, selectedValues, selectedOptions, selectedIndexes, columnIndex }_ |
+| scroll-into `v4.2.1` | 当用户通过点击或拖拽让一个选项滚动到中间的选择区域时触发 | _{ currentOption, columnIndex }_ |
 
 ### Slots
 
diff --git a/packages/vant/src/picker/test/index.spec.tsx b/packages/vant/src/picker/test/index.spec.tsx
index 267b2ff18..f147d7fc1 100644
--- a/packages/vant/src/picker/test/index.spec.tsx
+++ b/packages/vant/src/picker/test/index.spec.tsx
@@ -143,6 +143,38 @@ test('should emit click-option event after clicking an option', async () => {
   ]);
 });
 
+test('should emit scroll-into event after draging the column', async () => {
+  const wrapper = mount(Picker, {
+    props: {
+      columns: simpleColumn,
+    },
+  });
+
+  triggerDrag(wrapper.find('.van-picker-column'), 0, -100);
+  await wrapper.find('.van-picker-column ul').trigger('transitionend');
+
+  expect(wrapper.emitted('scrollInto')).toEqual([
+    [{ columnIndex: 0, currentOption: { text: '1992', value: '1992' } }],
+  ]);
+});
+
+test('should emit scroll-into event after clicking an option', async () => {
+  const wrapper = mount(Picker, {
+    props: {
+      showToolbar: true,
+      columns: simpleColumn,
+    },
+  });
+
+  await wrapper.find('.van-picker-column__item').trigger('click');
+  expect(wrapper.emitted('scrollInto')![0]).toEqual([
+    {
+      columnIndex: 0,
+      currentOption: { text: '1990', value: '1990' },
+    },
+  ]);
+});
+
 test('should render bottom toolbar when toolbar-position is bottom', () => {
   const wrapper = mount(Picker, {
     props: {