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Technological progress of wireless networks resulted in the appearance of vehicular ad hoc networks (VANETs). The exploitation of VANETs comes within the scope of developing intelligent transportation systems (ITS). This is possible through several types of applications designed for VANETs. In order to implement certain applications, it is necessary to be able to track vehicles on roads. An existing vehicle tracking system is based only on Road Side Units (RSUs) using Vehicle to Infrastructure (V2I) communication. In this paper, in addition to V2I communication, we propose an approach that includes participating vehicles in the process of tracking by using Vehicle to Vehicle (V2V) communication. This allows the sought vehicle to be tracked in areas not covered by RSUs.