The fields of the invention are vehicle on-board security and vehicle piloting safety. The invention relates to a method and device for aiding the restoral of command of a vehicle by an operator of the vehicle. The command of the vehicle by the operator is ensured through vehicle piloting controls, when the operator has lost command of the vehicle in favor of a device for disabling piloting controls. The device disables the action of the piloting controls on the piloting means during the loss of command. According to the invention, the method includes emitting a restoral of command request; a vehicle motion phase is determined; a reference state of the piloting control is determined as a function of the motion phase; a current state of the piloting control is determined; the current state with the reference state is compared so as to identify a deviation .DELTA. between the current state and the reference state. When no deviation .DELTA. is identified, the command of the vehicle by the operator is restored. When a deviation is identified, alert messages are determined to be communicated to the operator to warn him of this deviation and a priority level with each alert message is associated. The previous steps from the second step onward are repeated.