A method for determining a load in a wheel loader comprising a linkage configured to be connected to an implement, said wheel loader comprising at least one steering cylinder, the method comprising: determining at least one pressure in a first hydraulic cylinder and at least one pressure in a second hydraulic cylinder arranged to control said linkage, wherein the first cylinder is a lift cylinder, and said second cylinder is a tilt cylinder of said wheel loader; determining at least one link angle between at least two links in the linkage; determining, for a known linkage configuration, for a selected linkage bearing, and for each of said first and second hydraulic cylinder, at least two perpendicular force components acting on said bearing based on said determined at least one pressure in said first and second cylinders respectively and said at least one link angle; determining a load on said bearing as a linear combination of said determined at least two perpendicular force components from each of said first and second hydraulic cylinder using predetermined constants for the linear combination; the method being characterised by determining at least one pressure in said at least one hydraulic steering cylinder; for said selected linkage bearing, determining two perpendicular force components based on said at least one pressure in said at least one hydraulic steering cylinder, said at least one link angle and a steering angle; and determining a load of said selected linkage bearing as a linear combination of said determined force components from said steering cylinder pressure, lift cylinder pressure and tilt cylinder pressure, using predetermined constants for the linear combination. determining at least one pressure in a first hydraulic cylinder and at least one pressure in a second hydraulic cylinder arranged to control said linkage, wherein the first cylinder is a lift cylinder, and said second cylinder is a tilt cylinder of said wheel loader; determining at least one link angle between at least two links in the linkage; determining, for a known linkage configuration, for a selected linkage bearing, and for each of said first and second hydraulic cylinder, at least two perpendicular force components acting on said bearing based on said determined at least one pressure in said first and second cylinders respectively and said at least one link angle; determining a load on said bearing as a linear combination of said determined at least two perpendicular force components from each of said first and second hydraulic cylinder using predetermined constants for the linear combination; the method being characterised by determining at least one pressure in said at least one hydraulic steering cylinder; for said selected linkage bearing, determining two perpendicular force components based on said at least one pressure in said at least one hydraulic steering cylinder, said at least one link angle and a steering angle; and determining a load of said selected linkage bearing as a linear combination of said determined force components from said steering cylinder pressure, lift cylinder pressure and tilt cylinder pressure, using predetermined constants for the linear combination.