Steering wheel assembly including a steering column including an inner shaft adapted to be attached to a fixed part of the vehicle and an outer shaft arranged around and rotatable relative to the inner shaft. The outer shaft is connect with a steering mechanism which causes turning of tires of the vehicle. A steering wheel is connected to and for rotation with the outer shaft and an airbag module includes an airbag connected to the inner shaft. The airbag module does not rotate upon rotation of the outer shaft and the steering wheel. The airbag is thus stationary relative to the steering wheel and as a result, its shape is not constrained by any limitations which arise when the airbag must rotate along with the steering wheel as in conventional steering wheel-mounted airbag systems.