The invention refers to a steering device and a method for controlling a steering device with steering power support means (7, 8, 9) for a motor vehicle with at least one steerable road wheel (4), the steering device comprising: a steering shaft (1) with a first end to adopt a steering wheel (2) and with a second end which is coupled to a pinion (6), wherein said pinion (6) is engaging in a rack (5), wherein said rack (5) is adjustable in its longitudinal direction to different positions, whereby said at least one road wheel (4) is turning, whereby in a middle position (R0) of said rack said road wheel (4) is turned as to steer the vehicle in a straight ahead direction; a control device (10) controlling said power support means (7, 8, 9), sensing means (11) detecting torque introduced in said steering shaft (4), sensing means detecting the speed (V) of the vehicle, means to determine said position (R) of the rack; and a device for determining the instantaneous rack load (FR) in its longitudinal direction, which is introduced by said steerable road wheel (4), the method comprising the following steps: the difference between said middle position (R0) and the instantaneous position (R) of the rack is determined; if the difference is lower than a threshold value (ε) and if the speed (V) of the vehicle is higher than a threshold value (Vmin), the instantaneous value of the rack load (FR) is stored into the control device (10, 16) as offset value.