It is believed that immediately after steering, drivers perceive a two-stage motion of the vehicle consisting of “firstly yaw occurs and then after rear cornering force generates.” Thus this paper studies the two-stage motion. This paper starts with adopting two variables that can describe the two-stage motion. As a result of that, it shows that the yaw angular velocity occurs first, and the rear wheels cornering force occurs second. Moreover, this paper shows that the first yaw motion is a rotational mode around the rear wheels going straight after steering. Finally, this paper points out the length of time that this rotational mode continues is dominated by yaw lead time constant.