A guided lifting system, including: a lifting unit, installable on a loading deck and configured to exert a lifting force that has at least one vertically directed component; a pick-up module, associated with the lifting unit and configured to hook a vehicle to be lifted; characterised in that: it includes a guide device, connected to the pick-up module and configured to move the pick-up module in space in a guided manner; the guide device can be actuated and controlled autonomously from the lifting unit.