Steve McQueen was the king of cool, and his choice of cars is proof of it. Or maybe he was cool partly because of his choice in cars.

No matter, there’s no doubt that his 1956 Jaguar XKSS is definitely a very cool car. Jaguar’s XKSS is the road-going version of the famous D-Type race car, and from what we understand the XKSS is only mildly detuned.

There were only 16 of the XKSS ever made, and this particular car is owned by the Petersen Museum. Luckily for us, they were willing to bring this famous car over to Jay Leno’s garage and even allow Leno to take it for a spin. This is definitely one of the most beautiful cars ever built, and this video gives us regular Joe’s an up-close look at a car most of us can only dream of ever driving.