A steering system for an articulated vehicle having both steerable axle or wagon-wheel and articulation steering. A steering system is provided which is responsive to the position and rate of change of position of the articulated body portions with respect to each other, the position and rate of change of position of the steerable axle with respect to the body portion on which it is mounted, and operator steering direction input and the rate of change of that input, so as to provide transitions between the two types of steering which enhances operation of the vehicle. The steering system is also responsive to operator inputs as to the function for which the vehicle is being employed. The system also has the ability to dynamically adapt to the vehicle conditions, such as for adjusting transition between steering modes based upon past perfomance.