A door assembly includes a structure including an exterior panel defining an opening, and a grab bar. The grab bar is moveable relative to the exterior panel. A first linkage system and a second linkage system interconnect the grab bar and the structure. A drive assembly is coupled to the first linkage system and the second linkage system to move the grab bar between an extended position and a retracted position. The drive assembly includes a Shape Memory Alloy (SMA) actuator that contracts in response to a control signal, to move the grab bar. A seal may be provided to seal between the grab bar and the structure. A heating element may provide a thermal load to heat the grab bar, a seal surrounding the grab bar, or both.