In this paper, we describe a steering HILS system with a multibody kinematics model of front suspension. A Hardware-Inthe- Loop Simulation (HILS) for steering system is required for the vehicle developer to find the best solution in developing an electronic controlled steering system with other complex vehicle subsystems. The accuracy of the tie rod axial force calculation is important and should be improved to reproduce the actual track test in the steering HILS system. In this study, a multibody kinematics model of front suspension was developed to solve the problem and the evaluation was carried out by comparing the tie rod axial force calculation results to those of reliable commercial software. In order to evaluate the effectiveness of this steering HILS system, the multibody kinematics model was embedded to the real-time simulation environment and two evaluation tests were carried out. First, the result of steering HILS system was compared to that of actual track test. Next, the evaluation of this system was carried out by using human steering input. It is confirmed that the steering HILS system can reproduce track test condition with high accuracy and that it can be one of the best applications for a sensory evaluation of a steering system.