Steering wheel control system for a vehicle

A method of adapting the behaviour of a steering wheel (603) within the steering system of a vehicle, the method comprising: receiving (310) at least one vehicle operating parameter; determining (320) a vehicle operating condition (250, 260) from the received at least one operating parameter, the vehicle operating condition being related to a vehicle adherence condition; outputting (330) a control signal (660, 760, 860), the control signal being arranged to adapt the behaviour of the steering wheel in response to the determined vehicle operating condition.