Flame stabilization, structure and pollutant emissions are investigated experimentally on a swirled injection system operating with globally lean air/hydrogen mixtures at atmospheric conditions and moderate Reynolds numbers. This injector consists of two coaxial ducts with separate injection of hydrogen into a central channel and of air into an annular channel. Both streams are swirled. The resulting flames exhibit two stabilization modes. In one case, the flame takes an M-shape and is anchored to the hydrogen injector lips. In the second case, the flame is aerodynamically stabilized above the injector and takes a V-shape. Regions of existence of each stabilization mode are determined according to the operating conditions. For low air flow rates, the flame can be either anchored or lifted above the hydrogen injector lips depending on the path followed to reach the operating condition. At high air flow rates, the flame is always lifted regardless of the trajectory followed. The impact of air inlet temperature on these stabilization regimes is then evaluated from T = 300 K up to 770 K. Flame re-attachment is shown to be controlled by edge flame propagation and the impact of preheating is well reproduced by the model. Unburnt hydrogen and NOx emissions are finally evaluated. Unburnt hydrogen is only observed for global equivalence ratios below 0.4 and at ambient inlet temperature. NOx emissions decrease when the global equivalence ratio is reduced. Furthermore, at fixed global equivalence ratio, NOx emissions decrease as the thermal power increases, regardless of air preheating and the flame stabilization regime. At high power, NOx emissions reach an asymptotic value that is independent of the thermal power. The impact of flame shape, air preheating and combustion chamber wall heat losses on NOx production is also evaluated. Finally, NOx emissions are shown to scale with the adiabatic flame temperature Tad at the global equivalence ratio and the global residence time inside the combustor.