A method for steering a vehicle, wherein forces for steering wheels are generated by a steering torque. The steering torque is applied by a mechanical steering system and/or a steering actuator. The method includes in the automatic phase: automatic steering of the vehicle, where a control unit calculates an automatic torque and actuates the steering actuator so that the steering torque corresponds to the automatic torque. During the engagement phase when a manual torque applied to the steering wheel by the driver is detected, the method includes maintaining the calculated automatic torque as a steering torque by ignoring or compensating the manual torque until the manual torque has exceeded a defined threshold torque greater than zero. During a transfer phase, the method includes reducing the automatic torque after exceeding the threshold torque, wherein the steering torque corresponds to the sum of the manual torque and automatic torque.