A bone anchoring device is provided including a receiving part for receiving a rod, the receiving part having a longitudinal axis, a first bore coaxial with the longitudinal axis and a second bore an anchoring element having a first end for insertion into a bone and a second end positionable within the second bore, the second end including a head. The anchoring element is movable relative to the receiving part in a limited angular range about the longitudinal axis, the angular range lying in a single plane. The bone anchoring device further includes a guiding member configured to rotate in the first bore, wherein the head of the anchoring element is connected to the guiding member and wherein a form-fit connection between the head and the guiding member limits the movement of the anchoring element to the single plane. A first locking element acts on the guiding member to fix the rotational position of the guiding member and a second locking element acts on the head to fix the head relative to the receiving part.
