A steering system for a vehicle may include first and second steering motors providing torque; a rack bar to which torques of the first and second steering motor are simultaneously applied, and configured to change steering angles of wheels by being displaced by the rotation of the first and second steering motors; first and second motor position detectors detecting rotation angles of the first and second steering motors, respectively; and a controller deriving an absolute position of the rack bar based on a difference between the rotation angles of the first and second steering motors detected by the first and second motor position detectors, wherein an amount of displacement of the rack bar according to an amount of rotation of the first steering motor is different from an amount of displacement of the rack bar according to an amount of rotation of the second steering motor.