Abstract: A portable armrest for vehicle drivers configured to be removably received and supported on either side of the driver to cushion and provide comfortable support for the driver's elbow or forearm, prevent leaning, and place the arm and hand in a position to properly and safely grip the steering wheel includes a foam cushioning support member enclosed in a removable fabric cover, the cushioning support member having a rectangular top portion formed of a soft viscoelastic polyurethane memory foam material having a lower firmness and resilience, and a pentagonal lower portion formed of a second, more supportive polyurethane foam material.