An arrangement of a steering device on a steering system of a vehicle, - wherein the steering system comprises a rigid steering part and a rotatable steering part, in particular a steering column, - wherein the position of at least one vehicle wheel can be adjusted by rotating the rotatable steering part, - and wherein the rotatable steering part can be rotated relative to the rigid steering part, - wherein the steering device comprises a steering wheel, - wherein the steering device is connected, in particular releasably, to the rigid steering part and the rotatable steering part, - wherein the steering device comprises a motor, which is configured to rotate the rotatable steering part, - wherein the steering wheel is coupled to the rotatable steering part via a transmission, - wherein the transmission comprises a first machine element, which is rotationally connected to the rotatable steering part and is in particular formed as a toothed wheel, - wherein the transmission comprises a second machine element, which is rotationally connected to the steering wheel and is in particular formed as a toothed wheel, - wherein the first machine element is coupled to the second machine element via a third machine element, which is in particular formed as a toothed wheel and which is mounted rotatably about an axis of rotation, - and wherein the axis of rotation of the third machine element is arranged rigidly relative to the rigid steering part, characterised - in that the first machine element and the second machine element are arranged concentrically, - in that the first machine element substantially corresponds to the second machine element, - in that the axes of rotation of the first machine element and the second machine element substantially correspond to the axis of rotation of the rotatable steering part, - and in that the first machine element and the second machine element extend substantially orthogonally to the axis of rotation of the rotatable steering part. - wherein the steering system comprises a rigid steering part and a rotatable steering part, in particular a steering column, - wherein the position of at least one vehicle wheel can be adjusted by rotating the rotatable steering part, - and wherein the rotatable steering part can be rotated relative to the rigid steering part, - wherein the steering device comprises a steering wheel, - wherein the steering device is connected, in particular releasably, to the rigid steering part and the rotatable steering part, - wherein the steering device comprises a motor, which is configured to rotate the rotatable steering part, - wherein the steering wheel is coupled to the rotatable steering part via a transmission, - wherein the transmission comprises a first machine element, which is rotationally connected to the rotatable steering part and is in particular formed as a toothed wheel, - wherein the transmission comprises a second machine element, which is rotationally connected to the steering wheel and is in particular formed as a toothed wheel, - wherein the first machine element is coupled to the second machine element via a third machine element, which is in particular formed as a toothed wheel and which is mounted rotatably about an axis of rotation, - and wherein the axis of rotation of the third machine element is arranged rigidly relative to the rigid steering part, - in that the first machine element and the second machine element are arranged concentrically, - in that the first machine element substantially corresponds to the second machine element, - in that the axes of rotation of the first machine element and the second machine element substantially correspond to the axis of rotation of the rotatable steering part, - and in that the first machine element and the second machine element extend substantially orthogonally to the axis of rotation of the rotatable steering part.