An apparatus for handwheel return to center control is configured to determine a desired velocity value based on a vehicle velocity value and a handwheel position value; determine a control velocity blend value based on the vehicle velocity value and a driver applied handwheel torque value; determine a final desired velocity value based on the desired velocity value and the control velocity blend value; determine a proportional integral control value based on the control velocity blend value and an error value associated with the final desired velocity value; determine a static return command value based on the handwheel position value and the vehicle velocity value; determine a blend command value based on the proportional integral control value and the static return command value; and selectively control a return to center of the handwheel of the vehicle based on the blend command value.