An integrated prototyping system (IPS) is proposed for verifying and validating an electronic system design (ESD) with hierarchical design elements (HDEs). The IPS has: a) A reprogrammable logic device (RPLD) having an emulation timing base and an RPLD-interface for programming and simulating HDEs under validation while transacting exchanging vectors. The RPLD is also switchably coupled to numerous external peripheral electronic devices (PED), b) An EDA simulator for simulating then verifying selected HDEs while transacting exchanging vectors. The EDA simulator also has a simulator interface; and c) An IPS controller bridging the RPLD and the EDA simulator. The IPS controller has an IPS executive for progressively verifying and validating the ESD. The IPS executive further includes a co-emulation software for jointly and simultaneously running the RPLD and the EDA simulator with an event-based synchronization scheme for interchanging exchanging vectors on demand between the RPLD and the EDA simulator.