A method for manufacturing a rack bar includes joining axial end portions of first and second bar members to each other, and forming a power transmission section on the second bar member. The first bar member has a toothed portion. When the second bar member is hollow, the method may further include thickening a wall of a portion of the second bar member along the axial direction so as to be coaxial with the first bar member. When the second bar member has a greater diameter than the first bar member, the method may further include cutting an outside diameter of a portion of the second bar member in the axial direction so as to be coaxial with the first bar member. The power transmission section is formed on the portion of the second bar member where the wall has been thickened and/or the outside diameter has been cut.