Although steering feel is an important part of the perceived dynamic quality of a vehicle, there is very little theoretical understanding of steering feel. This paper reviews work by the Driver-Vehicle Dynamics (DVD) Group at Cambridge University Engineering Department aimed at improving this understanding. A mathematical model is described that comprises an optimal path following controller, a neuromuscular system, and a vehicle with steering torque feedback. Measurements of driver muscle activation during double lane change manoeuvres are made using electromyography and a driving simulator. The measurements and mathematical model suggest that drivers employ muscle co-contraction to improve path following, particularly when the vehicle behaviour is being learnt. It is also deduced that the neuromuscular system is better suited to controlling angle than torque. To account for the nonlinear vehicle dynamics, the drivers internal model of the nonlinear vehicle is represented as a set of linear models, each linear model being valid around a particular operating point defined using the front and rear tyre slip angles. Using this structure it is possible to represent novice and expert drivers. A novice driver might have a small number of models over a small range of slip angles. An experienced or skilled driver might have a larger number of models extending across the full range of slip angles. Work is underway to test the validity of this hypothesis. Work is also underway to measure and model the learning process; the process by which the driver learns additional linear models when the driver steers the vehicle into unfamiliar slip angles. With a theoretical model of the learning process it may be possible to design the vehicle steering to maximise the rate at which the internal model of the vehicle is learnt. This might provide a basis for tuning the handling qualities of a vehicle in the design phase. The direction of current and future work of the DVD Group is described.