Steele attempted to make his Indy Racing League IndyCar Series debut in 1996 at the Las Vegas Motor Speedway for ABF Motorsports but failed to qualify. He made his first start in 1998 at Phoenix International Raceway, the second race of the season, driving for RSM Marko, then drove in the final two races of the year for Panther Racing. He failed to finish all three races. He was entered in a Panther car for the 1999 Indianapolis 500 but crashed in practice.