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This paper describes the development of a new concept two-wheel steering system for realizing motorcycle motion control. By considering the whole of the main frame as the rear-wheel steering axis, it was possible to move the rear-wheel steering system from the conventional installation position at the rear arm to the head pipe. As a result, the developed two-wheel steering system is both lightweight and compact. This two-wheel steering system was installed in a motorcycle, and starting and stopping tests were carried out with two people riding on the motorcycle. The test results confirmed that the two-wheel steering system is capable of changing the motion characteristics of the motorcycle in actual riding. Furthermore, by calculating the equivalent wheel alignment of this system, this paper also theoretically demonstrates that these changes in motion characteristics are caused by changes in caster and trail.