This paper studies the influence of steering angle of semitrailer’s guide wheel on the dynamic behavior of tractor – semitrailer vehicle group in turning operation. The kinematic and dynamic parameters of the movement of the vehicle group are determined using a single-row, planar dynamic model with two input steering angle parameters. Calculations are done with selected velocity value, ensuring stable movement according to the adhesion conditions at all axles of the vehicle group. Vehicle group’s parameters, including lateral acceleration, angular velocity, articulation angle and their gain response are determined and analyzed for three different cases of semitrailer steering angles, including steering in the same direction, in the opposite direction compared to the steering angle of the tractor’s steering wheel, and with the case of the semitrailer’s steering wheel not steering. Results show that the constructed model can calculate the kinematic and dynamic parameters of vehicle group with both input steering angle parameters, which is the basis for calculating and analyzing the safety features of the vehicle movement.