Modular construction techniques have received increased attention in the recent decades due to advantages such as faster onsite construction, increased material security and cost-effectiveness. A system that could operate automatically and provides more design flexibility would further enhance the aforementioned advantages. In the past, 3D printing concrete systems have been developed to facilitate rapid construction and eliminate labor-intensive molding. However, these systems do not have any considerations for reinforcement and thus can only print concrete. This 4-D printing system for reinforced concrete presents a high-performance printable concrete material and reinforcement in the form of Fiber Reinforced Polymer (FRP). The system uses an additive layer-based manufacturing technique to build complex geometrical shapes without formwork and thus has a unique advantage over conventional construction methods.