SR 351 enters the city of Hampton just east of where I-664 veers away from the immediate vicinity of the state highway and the Hampton Branch crosses to the north side of the highway at an oblique grade crossing. The state highway continues northeast as Pembroke Avenue, which closely parallels the railroad beginning at the highway's intersection with Aberdeen Road, which provides further access to I-664. SR 351 passes War Memorial Stadium, the home of the Peninsula Pilots baseball team, before intersecting Powhatan Parkway, which provides SR 351's final access to I-664. SR 351 intersects SR 415 (Queen Street) and Settlers Landing Road, which heads east toward downtown Hampton. East of Lasalle Avenue, the state highway curves east away from the railroad.