In a steering apparatus for a vehicle, a target sub steering angle .theta..sub.SREF is set by a target-sub-steering-angle setting unit on the basis of an output .theta..sub.H of a steering-wheel-angle detection unit and a transmission characteristic f(.theta..sub.H) of a transmission-characteristic setting unit, and a target current I.sub.REF is set by a target-current setting unit on the basis of the target sub steering angle .theta..sub.SREF and an output .theta..sub.S of the sub-steering-angle detection unit. Current control unit controls a current which flows through an electric motor of a sub-steering-angle superposition mechanism, so that the target current I.sub.REF and a current I.sub.S of current detection unit may agree.