A steering control device comprising processing circuitry that executes a process that controls driving of a motor using an input from outside to operate a steering mechanism such that a steerable wheel of a vehicle steers, the motor being a generation source of force applied to the steering mechanism, wherein the input includes a steering torque (Trq) that is input by a driver and a driving support command value (As*) that is used to support driving by the driver, the processing circuitry configured to execute an angle command value calculation process that calculates, using the steering torque (Trq), an angle command value (θp*) corresponding to a target value of a rotation angle (θp) of a rotary shaft convertible into a steerable angle (θt) of the steerable wheel, an angle feedback control process that calculates an operation amount used to execute a feedback control for the rotation angle (θp) so that the rotation angle (θp) follows the angle command value (θp*), a control signal generation process that generates, using the operation amount, a motor control signal (S_m) necessary for driving the motor, and a support command value input process that inputs the driving support command value (As*) upstream of the angle feedback control process, wherein the driving support command value (As*) is a command value of an angle used to change a traveling direction of the vehicle, and the support command value input process is a process that subtracts the driving support command value (As*) from the rotation angle (θp) serving as an input to the angle feedback control process. the input includes a steering torque (Trq) that is input by a driver and a driving support command value (As*) that is used to support driving by the driver, the processing circuitry configured to execute an angle command value calculation process that calculates, using the steering torque (Trq), an angle command value (θp*) corresponding to a target value of a rotation angle (θp) of a rotary shaft convertible into a steerable angle (θt) of the steerable wheel, an angle feedback control process that calculates an operation amount used to execute a feedback control for the rotation angle (θp) so that the rotation angle (θp) follows the angle command value (θp*), a control signal generation process that generates, using the operation amount, a motor control signal (S_m) necessary for driving the motor, and a support command value input process that inputs the driving support command value (As*) upstream of the angle feedback control process, an angle command value calculation process that calculates, using the steering torque (Trq), an angle command value (θp*) corresponding to a target value of a rotation angle (θp) of a rotary shaft convertible into a steerable angle (θt) of the steerable wheel, an angle feedback control process that calculates an operation amount used to execute a feedback control for the rotation angle (θp) so that the rotation angle (θp) follows the angle command value (θp*), a control signal generation process that generates, using the operation amount, a motor control signal (S_m) necessary for driving the motor, and a support command value input process that inputs the driving support command value (As*) upstream of the angle feedback control process, wherein the driving support command value (As*) is a command value of an angle used to change a traveling direction of the vehicle, and the support command value input process is a process that subtracts the driving support command value (As*) from the rotation angle (θp) serving as an input to the angle feedback control process.