This paper presents WheelSense, a system for non-distracting and natural interaction with the In-Vehicle Information and communication System (IVIS). WheelSense embeds pressure sensors in the steering wheel in order to detect tangible gestures that the driver can perform on its surface. In this application, the driver can interact by means of four gestures that have been designed to allow the execution of secondary tasks without leaving the hands from the steering wheel. Thus, the proposed interface aims at minimizing the distraction of the driver from the primary task. Eight users tested the proposed system in an evaluation composed of three phases: gesture recognition test, gesture recognition test while driving in a simulated environment and usability questionnaire. The results show that the accuracy rate is 87% and 82% while driving. The system usability scale scored 84 points out of 100.