diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
index 0d468916e5..bb48904f37 100644
--- a/src/systems/ackermann_steering/AckermannSteering.cc
+++ b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -926,11 +926,10 @@ void AckermannSteeringPrivate::UpdateVelocity(
   double leftDelta = leftSteeringJointAngle - leftSteeringPos->Data()[0];
   double rightDelta = rightSteeringJointAngle - rightSteeringPos->Data()[0];
 
-  // Simple proportional control with a gain of 1
+  // Simple proportional control with settable gain.
   // Adding programmable PID values might be a future feature.
-  // Works as is for tested cases
-  this->leftSteeringJointSpeed = leftDelta;
-  this->rightSteeringJointSpeed = rightDelta;
+  this->leftSteeringJointSpeed = this->gainPAng * leftDelta;
+  this->rightSteeringJointSpeed = this->gainPAng * rightDelta;
 }
 
 //////////////////////////////////////////////////
diff --git a/src/systems/ackermann_steering/AckermannSteering.hh b/src/systems/ackermann_steering/AckermannSteering.hh
index 3d829d8902..84583379c4 100644
--- a/src/systems/ackermann_steering/AckermannSteering.hh
+++ b/src/systems/ackermann_steering/AckermannSteering.hh
@@ -52,7 +52,6 @@ namespace systems
   /// the index of the steering angle position actuator.
   ///
   /// - `<steer_p_gain>`: Float used to control the steering angle P gain.
-  /// Only used for when in steering_only mode.
   ///
   /// - `<left_joint>`: Name of a joint that controls a left wheel. This
   /// element can appear multiple times, and must appear at least once.