Abstract: A vehicle access system includes an access opening for the passenger compartment that is closed by a swinging door in combination with an access door. The access door moves through an arc without angling away from the vehicle body and is supported on a hinge assembly that attaches near the center of the door. An arm assembly guides the door throughout its range of positions and maintain the door in an orientation that is substantially parallel to the vehicle body. When the doors are open, an uninterrupted access opening is provided to the area of the second and third seat rows of the vehicle.