The invention relates to a method for detecting hands of a driver on the steering wheel (14). By means of a mathematical model, at least part of the steering system (10) of the motor vehicle is modelled. In addition, a rotational angle of a lower end and/or an upper end of a torsion rod (17) of the steering system (10) is determined. A torque acting on the torsion rod is determined by means of a measuring device (18). A sum of a torque applied to the steering wheel (14) by the driver and an opposing torque which is generated by friction in the upper (12) of the steering system (10) is estimated by means of a Kalman filter. In addition, the opposing torque is estimated and the estimated sum of the torques and of the opposing torque is used to determine whether the hands of the driver are onthe steering wheel (14).