Purpose: The main purpose of service learning is to produce holistically developed students. Since 2015, the Ministry of Higher Education has mandated the infusion of service learning into various study programs, however till today, service learning across the country is still in its infancy. Critical insights on its contextual compatibility is not fully understood within the Malaysian context. Therefore, this paper aims to highlight the perspectives of lecturers and students on the challenges they have encountered when participating in service learning. Methodology: This study employed a qualitative approach, and incorporated the principles of Scholarship of Teaching and Learning (SoTL) that guided data collection from the participants. The students and lecturers who participated in the study were selected using purposive sampling techniques. The data from the students were collected through focus group interviews, while in-depth face to face interviews were conducted to collect data from the lecturers. The two sources of data were then analysed using a thematic analysis method. Findings: Based on the analysis of the perspectives from students, the challenges encountered were as follows: 1) there is a gap in the understanding between theory and practice, and 2) the lack of cognitive autonomy. On the other hand, the main challenge identified based on the perspectives of the lecturers is the lack of structural support. Moreover, the common challenges experienced by both participants are the relationship and rapport with the community. Significance: These findings provide insight into the challenges faced by lecturers and students in a public university where service learning is practised. These insights would provide necessary information to academic developers that provide training workshops on service learning, and to lecturers that are involved in the design and implementation of service-learning projects.