Aspects relate to sidelink positioning using second stage sidelink control information (SCI-2). A first wireless communication device (e.g., first UE) may transmit SCI-2 including a sidelink positioning establishment message to establish a sidelink positioning session with at least a second wireless communication device (e.g., a second UE). Each of the first UE and second UE may then transmit positioning reference signals (PRSs) and generate and transmit sidelink positioning information based on the PRSs during the sidelink positioning session. The sidelink positioning information may further be transmitted via SCI-2.