Abstract: Disclosed is a system for lifting a wheelchair into and out of a vehicle. A bearing mount is fixed to the vehicle rotationally captures a pivot rod to which a rear mounting plate is fixed. Two pairs of parallel arms are pivotally fixed between the rear mounting plate and a front mounting plate, such that the arms and mounting plates form a parallelogram therebetween. A pair of forks are horizontally mounted to the forward mounting plate and are adapted to engage a pair of horizontal fork receivers that are fixed to the wheelchair. At least one vertical linear actuator is fixed between the mounting plates and is adapted to selectively raise and lower the forward mounting plate and forks with respect to the vehicle. At least one horizontal linear actuator is fixed between the vehicle and the rear mounting plate. The horizontal linear actuator is adapted to selectively rotate the forward mounting plate, arms, and the pair of forks between the inside and outside positions.