A headlamp aiming method for a vehicle includes measuring, by a height measurement instrument, at least two reference heights of at least two reference areas along a body of the vehicle. The height measurement instrument is positioned external of the vehicle, and one of the at least two reference heights is indicative of a height of a headlamp of the vehicle. The method further includes determining a vehicle pitch and a headlamp height variation of the vehicle based on the measured reference heights, calculating a modified headlamp position based on the vehicle pitch, the headlamp height variation, and a standard headlamp position, and aiming a headlamp of the vehicle based on the modified headlamp position.