diff --git a/common/params.cc b/common/params.cc
index 84120e5..e6b2f53 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -340,6 +340,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", PERSISTENT},
     {"RoadNameUI", PERSISTENT},
+    {"RotatingWheel", PERSISTENT},
     {"SchedulePending", PERSISTENT},
     {"SearchInput", PERSISTENT},
     {"SilentMode", PERSISTENT},
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png b/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png
new file mode 100644
index 0000000..1503308
Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png differ
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index b2af00f..724d0f4 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -29,6 +29,21 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
   p.setOpacity(1.0);
 }
 
+static void drawIconRotate(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.save();
+  p.translate(center);
+  p.rotate(-angle);
+  p.setOpacity(opacity);
+  p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
+  p.setOpacity(1.0);
+  p.restore();
+}
+
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
@@ -363,7 +378,15 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   }
 
   // FrogPilot variables
+  rotatingWheel = scene.rotating_wheel;
+
   y_offset = leadInfo ? 10 : 0;
+
+  // Update the icon so the steering wheel rotates in real time
+  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+    steeringAngleDeg = scene.steering_angle_deg;
+    update();
+  }
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -371,7 +394,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
 
   if (!(scene.show_driver_camera || scene.map_open && scene.full_map)) {
-    drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0);
+    if (rotatingWheel) {
+      drawIconRotate(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0, steeringAngleDeg);
+    } else {
+      drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0);
+    }
   }
 }
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index e56be95..b293cdb 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -77,6 +77,8 @@ private:
   // FrogPilot variables
   UIScene &scene;
 
+  bool rotatingWheel;
+  int steeringAngleDeg;
   int y_offset;
 };
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 6c71546..71c4c06 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -237,6 +237,9 @@ static void update_state(UIState *s) {
     if (scene.pedals_on_ui) {
       scene.standstill = carState.getStandstill();
     }
+    if (scene.rotating_wheel) {
+      scene.steering_angle_deg = carState.getSteeringAngleDeg();
+    }
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -346,6 +349,8 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.full_map = quality_of_life_visuals && params.getBool("FullMap");
   scene.hide_speed = quality_of_life_visuals && params.getBool("HideSpeed");
   scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
+
+  scene.rotating_wheel = params.getBool("RotatingWheel");
 }
 
 void UIState::updateStatus() {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 8d29556..1868771 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -205,6 +205,7 @@ typedef struct UIScene {
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool road_name_ui;
+  bool rotating_wheel;
   bool show_driver_camera;
   bool standstill;
   bool tethering_enabled;
@@ -234,6 +235,7 @@ typedef struct UIScene {
   int desired_follow;
   int obstacle_distance;
   int obstacle_distance_stock;
+  int steering_angle_deg;
   int stopped_equivalence;
 
   QPolygonF track_adjacent_vertices[6];