The roll stability during steady-state cornering of frame-steered two-axle, articulated vehicles is considered. The motion is described by eight coupled equations of motion, whose derivation is explained. These equations are solved numerically for typical design data and the effect on stability of changing different design parameters is explored. Provided that the longitudinal positions of the centres of gravity of the front and rear sections of the vehicle are kept close to the positions of the front and rear axles respectively, good stability can be achieved, comparable to that for a rigid vehicle.