An in-line, two-wheeled vehicle, with a torque generator operably secured thereto is disclosed. The torque generator generates a defined auxiliary torque about the point-of-contact of the steering wheel, and it is sized to balance the naturally occurring torques arising at slow speeds about the point-of-contact of the steering wheel, thereby improving the stability and control of the vehicle. In one disclosed embodiment, the vehicle is a stand-up riding board. In another disclosed embodiment, the vehicle is a cycle, such as a bicycle or the like. Torque generator structures such as using an elastic member, mechanical linkage, and dampening systems are also disclosed.