The invention relates to a steady rest for supporting central workpiece regions (9), in particular bearing points on shaft parts (6) of, in particular, crankshafts, during the grinding of central and/or eccentric workpiece regions. For the grinding, the steady rest (7) is brought from a retracted position to a supporting position against the workpiece region to be supported, wherein the steady rest (2) has supporting parts that can be advanced onto the workpiece region, which supporting parts support the workpiece region at respective circumferential regions spaced apart from each other. The workpiece to be supported is supported at the workpiece region thereof in the supporting position. According to the invention, the supporting parts are each arranged on a lateral flank of a prism opening in a fork-like manner on a steady-rest arm in a fixed position in relation to each other and to the steady-rest art, the supporting parts thus forming an opening angle to each other. At the same time, the supporting parts are arranged in such a way that the supporting parts are arranged below center with respect to the longitudinal axis of the workpiece region in such a way that an angle bisector formed between the two supporting parts has a fixed acute angle to the vertical extending through the longitudinal axis of the workpiece region and the CNC-controlled advancement occurs along said angle bisector. In a further aspect of the invention, the invention relates to a grinding machine, which has a steady rest described above, a control device, and preferably a measuring device, by means of which control device and measuring device the steady rest can be advanced onto the workpiece region and a grinding disk can be advanced to the final dimensional of the bearing point during the grinding of the bearing point by means of the grinding disk.