Fourth industrial revolution called Industry 4.0 has radically transformed production systems in manufacturing companies by the integration of emerging technologies. However, manufacturers must overcome several barriers, such as the lack of qualified talent to develop and manage various high-technology systems. Assembly system design aims to define proper assembly line configurations with the optimal performances to overcome increased competitiveness in the market. Nowadays, assembly system design should consider industry 4.0 concepts integration beyond traditional aspects like system balancing and sequencing. In this paper, we introduce a project-based learning approach to teach engineering students assembly system design taking into account industry 4.0 dimension. This project is carried out in collaboration with an industrial partner to design and implement car doors assembly line. The project demonstrated students interest and prepared them better for industry 4.0 era.