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For vehicle-to-grid (V2G) frequency regulation services, we propose an aggregator that makes efficient use of the distributed power of electric vehicles to produce the desired grid-scale power. The cost arising from the battery charging and the revenue obtained by providing the regulation are investigated and represented mathematically. Some design considerations of the aggregator are also discussed together with practical constraints such as the energy restriction of the batteries. The cost function with constraints enables us to construct an optimization problem. Based on the developed optimization problem, we apply the dynamic programming algorithm to compute the optimal charging control for each vehicle. Finally, simulations are provided to illustrate the optimality of the proposed charging control strategy with variations of parameters.