A system and method for detecting the absence of contact between the hands of a driver of a vehicle and a steering wheel of the vehicle that have particular application in ensuring the proper functioning of various components of the driver assist steering systems and maintaining driver attentiveness. The method for detecting a no-contact condition between the hands of the driver of the vehicle and the steering wheel includes generating a model of the no-contact condition using a second-order transfer function. The method further includes obtaining a set of model-generated steering dynamics by estimating a plurality of parameters of the second-order transfer function and a set of measured steering dynamics using a plurality of sensors. The set of model-generated steering dynamics and the set of measured steering dynamics are then compared and the no-contact condition is detected based on this comparison.