A rack and pinion steering device comprising: a casing; a pinion to be rotatably supported by said casing; a rack bar having a rack tooth meshed with said pinion; a rack guide (103, 403) comprising an abutment portion (103a1, 103a2, 403a1, 403a2) to which said rack bar is to be slidably abutted and a recessed portion (103b1, 103b2, 403b1, 403b2), which is continued to said abutment portion (103a1, 103a2, 403a1, 403a2), to be spaced from said rack bar; a rack guide base member to which said abutment portion (103a1, 103a2, 403a1, 403a2) is to be abutted for receiving said rack guide (103, 403); and urging means for urging said rack guide (103, 403) against said rack bar through said rack guide base member, wherein, in a cross sectional view along a central line (x)of the rack guide (103, 403) a center of curvature of an abutment surface (T1, T2) of said abutment portion (103a1, 103a2, 403a1, 403a2) which is to be abutted to said rack bar is different from that (C1, C2) of an inner surface (S1, S2) of said recessed portion (103b1, 103b2, 403b1, 403b2) which is not to be abutted to said rack bar, wherein an outer surface of said rack guide (103, 403) to be abutted to said rack guide base member has a single curvature radius with the center of curvature, and wherein said recessed portion (103b1, 103b2, 403b1, 403b2) is plastically deformed in such a manner that a thickness dimension of said recessed portion (103b1, 103b2, 403b1, 403b2) is different from that of said abutment portion (103a1, 103a2, 403a1, 403a2) and becomes gradually decreasing as the recessed portion (103b1, 103b2, 403b1, 403b2) becomes away from said abutment portion (103a1, 103a2, 403a1, 403a2) and said recessed portion (103b1, 103b2, 403b1, 403b2) is to be abutted to said rack guide base member. a casing; a pinion to be rotatably supported by said casing; a rack bar having a rack tooth meshed with said pinion; a rack guide (103, 403) comprising an abutment portion (103a1, 103a2, 403a1, 403a2) to which said rack bar is to be slidably abutted and a recessed portion (103b1, 103b2, 403b1, 403b2), which is continued to said abutment portion (103a1, 103a2, 403a1, 403a2), to be spaced from said rack bar; a rack guide base member to which said abutment portion (103a1, 103a2, 403a1, 403a2) is to be abutted for receiving said rack guide (103, 403); and urging means for urging said rack guide (103, 403) against said rack bar through said rack guide base member, wherein, in a cross sectional view along a central line (x)of the rack guide (103, 403) a center of curvature of an abutment surface (T1, T2) of said abutment portion (103a1, 103a2, 403a1, 403a2) which is to be abutted to said rack bar is different from that (C1, C2) of an inner surface (S1, S2) of said recessed portion (103b1, 103b2, 403b1, 403b2) which is not to be abutted to said rack bar, wherein an outer surface of said rack guide (103, 403) to be abutted to said rack guide base member has a single curvature radius with the center of curvature, and wherein said recessed portion (103b1, 103b2, 403b1, 403b2) is plastically deformed in such a manner that a thickness dimension of said recessed portion (103b1, 103b2, 403b1, 403b2) is different from that of said abutment portion (103a1, 103a2, 403a1, 403a2) and becomes gradually decreasing as the recessed portion (103b1, 103b2, 403b1, 403b2) becomes away from said abutment portion (103a1, 103a2, 403a1, 403a2) and said recessed portion (103b1, 103b2, 403b1, 403b2) is to be abutted to said rack guide base member.