A wheelchair lift and restraining device for an automotive vehicle includes a base pivotally mounted beneath the main floor of a vehicle. First and second support arm portions extend outwardly from the base and are configured for engagement with a wheelchair frame, preferably a wheel axle. A rotating assembly selectively moves the support arm through approximately 90° of rotation and the system is raised and lowered relative to the vehicle to transport the wheelchair from outside the vehicle to the interior of the vehicle, and also position the wheelchair at a desired height in the vehicle interior. Translation movement of the support arms also positions the wheelchair occupant at a desired location. A headrest extends from the system to provide desired neck and head support.
