The present invention provides a compact wheelchair lift mechanism useable within a relatively small vehicle cabin space, such as a pickup truck with an extended cabin. The wheelchair lift includes a lateral actuator and a vertical actuator that cooperate to move a wheelchair support laterally in and out of a vehicle cabin and vertically between the cabin floor and the ground. The vehicle includes a lowered floor for expanding the vertical opening available to the lift, wheelchair, and vehicle occupant. The lift is positioned within the vehicle cabin such that no loss of seating capacity results from the installation of the lift.