In this paper, road forces on tire are exerted on driver's hands via an equivalent torque applied to the steering wheel using a hardware-in-the-loop method to analyze the effect of steering torque feedback in vehicle handling. An electrical torquefeedback steering system is used for experimental validation. A 14-degree-of-freedom vehicle dynamic model, including engine, tire, and steering system mechanism are simulated. The required inputs such as throttle angle, brake demand, and steering wheel angular position are transmitted to the computer via an I/O interface card. Tire forces and steering gear torque are solved. This torque is then sent via an I/O interface card to a DC motor connected to the steering shaft. All equations are solved in real time. To investigate the influence of torque feedback on vehicle handling, several experiments are executed on 25 users. For this purpose, an experimental protocol is defined. In the experiments, the users had to drive along a specific path with constant speed using the designed electrical torque-feedback steering system. During the tests, the driving pattern of each user was recorded and the simulator's instantaneous position was compared with its desirable value. The results show that the torque feedback improved the driver's perception from the surrounding environment and enables her/him to handle the vehicle satisfactorily.