A vehicle steering apparatus (10) includes a steering gear assembly (20) which is connected with a steerable vehicle wheel (12). A first sensor (26) has an output signal which is a function of steering wheel position. A second sensor (28) has an output signal which is a function of steerable wheel position. A controller (30) is operable to provide an output signal when the steerable vehicle wheel position does not correspond to the steering wheel position. A motor (34) is connected with a differential gear mechanism (36). The motor (34) is operable in response to the output signal from the controller (30) to effect operation of the differential gear mechanism (36) to actuate the steering gear assembly (20) and change the position of the steerable vehicle wheel (12).