Abstract: Front and rear wheeled units of vehicle are connected together for articulated steering. Wheels on at least one unit are mounted for swivelling relative to the respective unit to provide kingpin steering in combination with articulation steering. A first embodiment has front and rear kingpin steering and articulation steering performed manually and independently of the each other. In a second embodiment, a steering integrator cooperates with actuators which control at least the articulation steering and kingpin steering of the front wheels to automatically integrate two types of steering so that a controlled relationship exists between an articulation angle of the front unit with respect to the rear unit, and swivel angles of the front wheels with respect to the front unit. A manual steering control, e.g. a steering wheel, controls actuation of the steering integrator.