Configuration vlan interfaces on switch
interface vlan 172
ip address 172.168.1.253 255.255.255.0
exit
interface vlan 192
ip address 192.168.1.253 255.255.255.0
exit
interface van 10
ip address 10.0.0.253 255.255.255.0
exit
Setup trunk from Switch to router
SW1(config)# interface Gix/x/x
SW1(config-if)# description "trunk to router"
SW1(config-if)# switchport mode trunk
SW1(config-if)# spanning-tree portfast trunk
Configuration on router
R1# conf t
R1(config)# interface Gi0/x
R1(config-if)# no ip address
R1(config-if)# duplex auto
R1(config-if)# speed auto
R1(config-if)# interface gigabitethernet0/x.172
R1(config-subif)# encapsulation dot1q 172 //match vlan
R1(config-subif)# ip address 172.168.0.252 255.255.255.0
R1(config-subif)# ip nat inside
R1(config-subif)# interface gigabitethernet0/x.192
R1(config-subif)# encapsulation dot1q 192 //match vlan
R1(config-subif)# ip address 192.168.2.252 255.255.255.0
R1(config-subif)# ip nat inside
Done. Check your inter-vlan routing