Abstract: A steering system includes a front fork, a front wheel, a handlebar, two bar ends, and two steering members. The handlebar includes a support bar and two elbows disposed at two opposite ends of the support bar. The two bar ends each includes a grip and a linkage; the linkage fits through the corresponding elbow and connects with the grip. Each of the steering members connects the corresponding bar end to the front fork, so that the swing direction of the grips determines the turning direction of the front fork and thus the travel direction of the front wheel. A bicycle using the steering system is also provided. The steering system and the bicycle of the present invention utilize swinging of the grips of the bar ends connected to the two elbows extending from the handlebar to control the travel direction of the front wheel.