The invention is directed to a vertically and horizontally-controlled, retractable aerial platform mountable on the bed of a vehicle for supporting a person or materials. The aerial platform includes a base, at least one support arm, a first support member, a second support member, a platform, and actuation means. The aerial platform may further include a collapsible frame. The aerial platform is vertically and horizontally-controlled, allowing a workman to adjust both the height and extension distance of the platform so that work functions can be readily performed. The aerial platform is portable, compact and suitable for use in a variety of commercial vehicles.