A vehicle step apparatus, comprising: a first extending and retracting device comprising a first mounting bracket, a first step bracket, and a first arm assembly coupled to the first mounting bracket and the first step bracket and configured to drive the first step bracket to move between a first extending position and a first retracting position; a second extending and retracting device comprising a second mounting bracket, a second step bracket, and a second arm assembly coupled to the second mounting bracket and the second step bracket and configured to drive the second step bracket to move between a second extending position and a second retracting position; a step coupled to the first step bracket and the second step bracket; a first permanent magnet direct current motor coupled to the first mounting bracket and the first arm assembly to drive the first arm assembly; and a second permanent magnet direct current motor coupled to the second mounting bracket and the second arm assembly to drive the second arm assembly; wherein the first permanent magnet direct current motor and the second permanent magnet direct current motor are configured to drive the first arm assembly and the second arm assembly, respectively, with synchronized motion as the step extends and retracts, characterized in that the first permanent magnet direct current motor and the second permanent magnet direct current motor are operable to self-lock, the first permanent magnet direct current motor and the second permanent magnet direct current motor are operable to drive the first arm assembly and the second arm assembly, respectively, at rotational speed that is related to a load, such that the rotational speed will be decreased due to an increasing load and the rotational speed will be increased due to an decreasing load. a first extending and retracting device comprising a first mounting bracket, a first step bracket, and a first arm assembly coupled to the first mounting bracket and the first step bracket and configured to drive the first step bracket to move between a first extending position and a first retracting position; a second extending and retracting device comprising a second mounting bracket, a second step bracket, and a second arm assembly coupled to the second mounting bracket and the second step bracket and configured to drive the second step bracket to move between a second extending position and a second retracting position; a step coupled to the first step bracket and the second step bracket; a first permanent magnet direct current motor coupled to the first mounting bracket and the first arm assembly to drive the first arm assembly; and a second permanent magnet direct current motor coupled to the second mounting bracket and the second arm assembly to drive the second arm assembly; wherein the first permanent magnet direct current motor and the second permanent magnet direct current motor are configured to drive the first arm assembly and the second arm assembly, respectively, with synchronized motion as the step extends and retracts, characterized in that the first permanent magnet direct current motor and the second permanent magnet direct current motor are operable to self-lock, the first permanent magnet direct current motor and the second permanent magnet direct current motor are operable to drive the first arm assembly and the second arm assembly, respectively, at rotational speed that is related to a load, such that the rotational speed will be decreased due to an increasing load and the rotational speed will be increased due to an decreasing load.