A stirrup attached to the rear of a vehicle, making it safer and easier to enter into and/or exit from the vehicle. It comprises a bottom member that is preferably flat and rectangular, vertical side members extending upwards from opposite edges of the bottom member, and a top member from which the side members depend. Optional features include a tread pad on the upper surface of the bottom member, a shin guard, an illumination light, and/or a brake light. In a first preferred embodiment, it is retained on the vehicle using an attachment member extending from the top member that is inserted into a trailer hitch. In a second preferred embodiment, it is retained on the underside of the vehicle's rear bumper using attachment members such as bolts. In a third preferred embodiment, it is welded to the underside of the vehicle's rear bumper.