To reduce the handover latency in Proxy Mobile IPv6 (PMIP v6), fast handover for PMIPv6 (PFMIPv6) is also being standardized in the IETF. However, in the PFMIPv6 networks, a tunnel is established between the previous Mobile Access Gateway (MAG) and the new MAG only after the previous MAG receives an HAck (Handover Acknowledgement) message from the new MAG. This problem is aggravated by high mobility of MNs, which characterizes vehicular networks based on PMIPv6. To reduce the time for establishing the tunnel between MAGs in the vehicular networks, each MAG along the road, pre-configures the tunnel with its neighboring MAGs and then the tunnel will be activated when a new MN arrives. From the numerical and simulation results, it is shown that the proposed fast handover scheme can achieve lower handover latency than PFMIPv6.