An arrangement of a steering device is provided for use with a steering system of a vehicle, which includes a rigid steering part and a rotatable steering part. The arrangement includes a steering wheel coupled to the rotatable steering part via a transmission, and a motor configured to rotate the rotatable steering part. The transmission includes a first machine element, a second machine element, and a third machine element. The first machine element is rotationally connected to the rotatable steering part, the second machine element is rotationally connected to the steering wheel, and the third machine element couples the first machine element to the second machine element. The third machine element is mounted for rotation about an axis of rotation, wherein the axis of rotation is arranged rigidly relative to the rigid steering part.