Large Language Models (LLMs) exhibit remarkable capabilities across various tasks, yet guiding them to follow desired behaviours during inference remains a significant challenge. Activation steering offers a promising method to control the generation process of LLMs by modifying their internal activations. However, existing methods commonly intervene in the model's behaviour using steering vectors generated by the model itself, which constrains their effectiveness to that specific model and excludes the possibility of leveraging powerful external expert models for steering. To address these limitations, we propose ExpertSteer, a novel approach that leverages arbitrary specialized expert models to generate steering vectors, enabling intervention in any LLMs. ExpertSteer transfers the knowledge from an expert model to a target LLM through a cohesive four-step process: first aligning representation dimensions with auto-encoders to enable cross-model transfer, then identifying intervention layer pairs based on mutual information analysis, next generating steering vectors from the expert model using Recursive Feature Machines, and finally applying these vectors on the identified layers during inference to selectively guide the target LLM without updating model parameters. We conduct comprehensive experiments using three LLMs on 15 popular benchmarks across four distinct domains. Experiments demonstrate that ExpertSteer significantly outperforms established baselines across diverse tasks at minimal cost.