diff --git a/samtranslator/model/api/api_generator.py b/samtranslator/model/api/api_generator.py
index 3510e94a4..4d9326972 100644
--- a/samtranslator/model/api/api_generator.py
+++ b/samtranslator/model/api/api_generator.py
@@ -1326,8 +1326,19 @@ def _set_endpoint_configuration(self, rest_api: ApiGatewayRestApi, value: Union[
         if isinstance(value, dict) and value.get("Type"):
             rest_api.Parameters = {"endpointConfigurationTypes": value.get("Type")}
             rest_api.EndpointConfiguration = {"Types": [value.get("Type")]}
-            if "VPCEndpointIds" in value:
-                rest_api.EndpointConfiguration["VpcEndpointIds"] = value.get("VPCEndpointIds")
+
+            # SAM API `EndpointConfiguration` uses `VPCEndpointIds` but APIGateway RestApi uses `VpcEndpointIds`.
+            # Deny when both properties are defined at the same time.
+            if "VPCEndpointIds" in value and "VpcEndpointIds" in value:
+                raise InvalidResourceException(
+                    rest_api.logical_id,
+                    "'VPCEndpointIds' and 'VpcEndpointIds' cannot be used together in EndpointConfiguration.",
+                )
+            # Accept when either `VPCEndpointIds` or `VpcEndpointIds` is defined by users
+            if "VPCEndpointIds" in value or "VpcEndpointIds" in value:
+                rest_api.EndpointConfiguration["VpcEndpointIds"] = value.get("VPCEndpointIds") or value.get(
+                    "VpcEndpointIds"
+                )
         else:
             rest_api.EndpointConfiguration = {"Types": [value]}
             rest_api.Parameters = {"endpointConfigurationTypes": value}
diff --git a/tests/translator/input/api_endpoint_configuration_with_both_vpcendpoint.yaml b/tests/translator/input/api_endpoint_configuration_with_both_vpcendpoint.yaml
new file mode 100644
index 000000000..431ecf043
--- /dev/null
+++ b/tests/translator/input/api_endpoint_configuration_with_both_vpcendpoint.yaml
@@ -0,0 +1,20 @@
+Resources:
+  ExplicitApiWithVpcEndpointIds:
+    Type: AWS::Serverless::Api
+    Properties:
+      StageName: Prod
+      DefinitionUri: s3://sam-demo-bucket/webpage_swagger.json
+      EndpointConfiguration:
+        Type: PRIVATE
+        VpcEndpointIds:
+        - vpc-1
+
+  ExplicitApiWithVPCEndpointIds:
+    Type: AWS::Serverless::Api
+    Properties:
+      StageName: Prod
+      DefinitionUri: s3://sam-demo-bucket/webpage_swagger.json
+      EndpointConfiguration:
+        Type: PRIVATE
+        VPCEndpointIds:
+        - vpc-2
diff --git a/tests/translator/input/error_api_invalid_endpoint_configuration_with_vpc.yaml b/tests/translator/input/error_api_invalid_endpoint_configuration_with_vpc.yaml
new file mode 100644
index 000000000..a53e5727c
--- /dev/null
+++ b/tests/translator/input/error_api_invalid_endpoint_configuration_with_vpc.yaml
@@ -0,0 +1,14 @@
+Resources:
+  ExplicitApi:
+    Type: AWS::Serverless::Api
+    Properties:
+      StageName: Prod
+      DefinitionUri: s3://sam-demo-bucket/webpage_swagger.json
+      EndpointConfiguration:
+        Type: PRIVATE
+        VPCEndpointIds:
+        - vpc-1
+        - vpc-2
+        VpcEndpointIds:
+        - vpc-3
+        - vpc-4
diff --git a/tests/translator/output/api_endpoint_configuration_with_both_vpcendpoint.json b/tests/translator/output/api_endpoint_configuration_with_both_vpcendpoint.json
new file mode 100644
index 000000000..f9376e42a
--- /dev/null
+++ b/tests/translator/output/api_endpoint_configuration_with_both_vpcendpoint.json
@@ -0,0 +1,88 @@
+{
+  "Resources": {
+    "ExplicitApiWithVPCEndpointIds": {
+      "Properties": {
+        "BodyS3Location": {
+          "Bucket": "sam-demo-bucket",
+          "Key": "webpage_swagger.json"
+        },
+        "EndpointConfiguration": {
+          "Types": [
+            "PRIVATE"
+          ],
+          "VpcEndpointIds": [
+            "vpc-2"
+          ]
+        },
+        "Parameters": {
+          "endpointConfigurationTypes": "PRIVATE"
+        }
+      },
+      "Type": "AWS::ApiGateway::RestApi"
+    },
+    "ExplicitApiWithVPCEndpointIdsDeploymentf117c932f7": {
+      "Properties": {
+        "Description": "RestApi deployment id: f117c932f75cfa87d23dfed64e9430d0081ef289",
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVPCEndpointIds"
+        },
+        "StageName": "Stage"
+      },
+      "Type": "AWS::ApiGateway::Deployment"
+    },
+    "ExplicitApiWithVPCEndpointIdsProdStage": {
+      "Properties": {
+        "DeploymentId": {
+          "Ref": "ExplicitApiWithVPCEndpointIdsDeploymentf117c932f7"
+        },
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVPCEndpointIds"
+        },
+        "StageName": "Prod"
+      },
+      "Type": "AWS::ApiGateway::Stage"
+    },
+    "ExplicitApiWithVpcEndpointIds": {
+      "Properties": {
+        "BodyS3Location": {
+          "Bucket": "sam-demo-bucket",
+          "Key": "webpage_swagger.json"
+        },
+        "EndpointConfiguration": {
+          "Types": [
+            "PRIVATE"
+          ],
+          "VpcEndpointIds": [
+            "vpc-1"
+          ]
+        },
+        "Parameters": {
+          "endpointConfigurationTypes": "PRIVATE"
+        }
+      },
+      "Type": "AWS::ApiGateway::RestApi"
+    },
+    "ExplicitApiWithVpcEndpointIdsDeploymentf117c932f7": {
+      "Properties": {
+        "Description": "RestApi deployment id: f117c932f75cfa87d23dfed64e9430d0081ef289",
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVpcEndpointIds"
+        },
+        "StageName": "Stage"
+      },
+      "Type": "AWS::ApiGateway::Deployment"
+    },
+    "ExplicitApiWithVpcEndpointIdsProdStage": {
+      "Properties": {
+        "DeploymentId": {
+          "Ref": "ExplicitApiWithVpcEndpointIdsDeploymentf117c932f7"
+        },
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVpcEndpointIds"
+        },
+        "StageName": "Prod"
+      },
+      "Type": "AWS::ApiGateway::Stage"
+    }
+  }
+}
diff --git a/tests/translator/output/aws-cn/api_endpoint_configuration_with_both_vpcendpoint.json b/tests/translator/output/aws-cn/api_endpoint_configuration_with_both_vpcendpoint.json
new file mode 100644
index 000000000..f9376e42a
--- /dev/null
+++ b/tests/translator/output/aws-cn/api_endpoint_configuration_with_both_vpcendpoint.json
@@ -0,0 +1,88 @@
+{
+  "Resources": {
+    "ExplicitApiWithVPCEndpointIds": {
+      "Properties": {
+        "BodyS3Location": {
+          "Bucket": "sam-demo-bucket",
+          "Key": "webpage_swagger.json"
+        },
+        "EndpointConfiguration": {
+          "Types": [
+            "PRIVATE"
+          ],
+          "VpcEndpointIds": [
+            "vpc-2"
+          ]
+        },
+        "Parameters": {
+          "endpointConfigurationTypes": "PRIVATE"
+        }
+      },
+      "Type": "AWS::ApiGateway::RestApi"
+    },
+    "ExplicitApiWithVPCEndpointIdsDeploymentf117c932f7": {
+      "Properties": {
+        "Description": "RestApi deployment id: f117c932f75cfa87d23dfed64e9430d0081ef289",
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVPCEndpointIds"
+        },
+        "StageName": "Stage"
+      },
+      "Type": "AWS::ApiGateway::Deployment"
+    },
+    "ExplicitApiWithVPCEndpointIdsProdStage": {
+      "Properties": {
+        "DeploymentId": {
+          "Ref": "ExplicitApiWithVPCEndpointIdsDeploymentf117c932f7"
+        },
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVPCEndpointIds"
+        },
+        "StageName": "Prod"
+      },
+      "Type": "AWS::ApiGateway::Stage"
+    },
+    "ExplicitApiWithVpcEndpointIds": {
+      "Properties": {
+        "BodyS3Location": {
+          "Bucket": "sam-demo-bucket",
+          "Key": "webpage_swagger.json"
+        },
+        "EndpointConfiguration": {
+          "Types": [
+            "PRIVATE"
+          ],
+          "VpcEndpointIds": [
+            "vpc-1"
+          ]
+        },
+        "Parameters": {
+          "endpointConfigurationTypes": "PRIVATE"
+        }
+      },
+      "Type": "AWS::ApiGateway::RestApi"
+    },
+    "ExplicitApiWithVpcEndpointIdsDeploymentf117c932f7": {
+      "Properties": {
+        "Description": "RestApi deployment id: f117c932f75cfa87d23dfed64e9430d0081ef289",
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVpcEndpointIds"
+        },
+        "StageName": "Stage"
+      },
+      "Type": "AWS::ApiGateway::Deployment"
+    },
+    "ExplicitApiWithVpcEndpointIdsProdStage": {
+      "Properties": {
+        "DeploymentId": {
+          "Ref": "ExplicitApiWithVpcEndpointIdsDeploymentf117c932f7"
+        },
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVpcEndpointIds"
+        },
+        "StageName": "Prod"
+      },
+      "Type": "AWS::ApiGateway::Stage"
+    }
+  }
+}
diff --git a/tests/translator/output/aws-us-gov/api_endpoint_configuration_with_both_vpcendpoint.json b/tests/translator/output/aws-us-gov/api_endpoint_configuration_with_both_vpcendpoint.json
new file mode 100644
index 000000000..f9376e42a
--- /dev/null
+++ b/tests/translator/output/aws-us-gov/api_endpoint_configuration_with_both_vpcendpoint.json
@@ -0,0 +1,88 @@
+{
+  "Resources": {
+    "ExplicitApiWithVPCEndpointIds": {
+      "Properties": {
+        "BodyS3Location": {
+          "Bucket": "sam-demo-bucket",
+          "Key": "webpage_swagger.json"
+        },
+        "EndpointConfiguration": {
+          "Types": [
+            "PRIVATE"
+          ],
+          "VpcEndpointIds": [
+            "vpc-2"
+          ]
+        },
+        "Parameters": {
+          "endpointConfigurationTypes": "PRIVATE"
+        }
+      },
+      "Type": "AWS::ApiGateway::RestApi"
+    },
+    "ExplicitApiWithVPCEndpointIdsDeploymentf117c932f7": {
+      "Properties": {
+        "Description": "RestApi deployment id: f117c932f75cfa87d23dfed64e9430d0081ef289",
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVPCEndpointIds"
+        },
+        "StageName": "Stage"
+      },
+      "Type": "AWS::ApiGateway::Deployment"
+    },
+    "ExplicitApiWithVPCEndpointIdsProdStage": {
+      "Properties": {
+        "DeploymentId": {
+          "Ref": "ExplicitApiWithVPCEndpointIdsDeploymentf117c932f7"
+        },
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVPCEndpointIds"
+        },
+        "StageName": "Prod"
+      },
+      "Type": "AWS::ApiGateway::Stage"
+    },
+    "ExplicitApiWithVpcEndpointIds": {
+      "Properties": {
+        "BodyS3Location": {
+          "Bucket": "sam-demo-bucket",
+          "Key": "webpage_swagger.json"
+        },
+        "EndpointConfiguration": {
+          "Types": [
+            "PRIVATE"
+          ],
+          "VpcEndpointIds": [
+            "vpc-1"
+          ]
+        },
+        "Parameters": {
+          "endpointConfigurationTypes": "PRIVATE"
+        }
+      },
+      "Type": "AWS::ApiGateway::RestApi"
+    },
+    "ExplicitApiWithVpcEndpointIdsDeploymentf117c932f7": {
+      "Properties": {
+        "Description": "RestApi deployment id: f117c932f75cfa87d23dfed64e9430d0081ef289",
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVpcEndpointIds"
+        },
+        "StageName": "Stage"
+      },
+      "Type": "AWS::ApiGateway::Deployment"
+    },
+    "ExplicitApiWithVpcEndpointIdsProdStage": {
+      "Properties": {
+        "DeploymentId": {
+          "Ref": "ExplicitApiWithVpcEndpointIdsDeploymentf117c932f7"
+        },
+        "RestApiId": {
+          "Ref": "ExplicitApiWithVpcEndpointIds"
+        },
+        "StageName": "Prod"
+      },
+      "Type": "AWS::ApiGateway::Stage"
+    }
+  }
+}
diff --git a/tests/translator/output/error_api_invalid_endpoint_configuration_with_vpc.json b/tests/translator/output/error_api_invalid_endpoint_configuration_with_vpc.json
new file mode 100644
index 000000000..7df8487e8
--- /dev/null
+++ b/tests/translator/output/error_api_invalid_endpoint_configuration_with_vpc.json
@@ -0,0 +1,9 @@
+{
+  "_autoGeneratedBreakdownErrorMessage": [
+    "Invalid Serverless Application Specification document. ",
+    "Number of errors found: 1. ",
+    "Resource with id [ExplicitApi] is invalid. ",
+    "'VPCEndpointIds' and 'VpcEndpointIds' cannot be used together in EndpointConfiguration."
+  ],
+  "errorMessage": "Invalid Serverless Application Specification document. Number of errors found: 1. Resource with id [ExplicitApi] is invalid. 'VPCEndpointIds' and 'VpcEndpointIds' cannot be used together in EndpointConfiguration."
+}