Both tire contact point and wheel center is changed with rightward and leftward of vehicle steering by the effect of geometry of steering axis. It’s benefit to calculate steering axis geometry by wheel movement for suspension design. A vehicle suspension Kinematics and Compliance (KnC) facility was used to get steering test data, such as kingpin inclination angle, caster angle, caster trail, scrub radius, spindle trail and kingpin offset at wheel center. The method was validated by the simulating result of Adams and test data, and errors were within the allowable range. The solution method met the requirement.