Advanced research in ABS (Anti-lock Braking System), traction control, electronic LSD's (Limited Slip Differential) and electrical powertrains have led to an architecture development which can be used to provide a controlled yaw moment to stabilize a vehicle. A steer assistance mechanism that uses the same architecture and aims at improving the vehicle response to the driver steering inputs is proposed. In this paper a feed-forward approach where the steering wheel angle is used as the main input is developed. An optimal control system is designed to improve vehicle response to steering input while minimizing the H2 performance of the body slip angle. The control strategy developed was simulated on a 14 DOF full vehicle model to analyze the response and handling performance.