How to say i took the wheel while he slept. in Japanese

1)彼ら彼ら(karera) (n,adj-no) those/theyが(ga) (prt) indicates sentence subject/indicates possessive/but/however/still/and眠ってno dictionary result, likely a conjigated verbno dictionary result, likely a conjigated verbいるいる(iru) (v1,vi) to be/to exist/to stay/ verb indicating continuing action or state間(kan) (n-adv,n) space/gap/interval/distance/time/pause/break/span/stretch/period/relationship/members/ due to/because of私(watashi) (pn,adj-no) i/meが(ga) (prt) indicates sentence subject/indicates possessive/but/however/still/andハンドルハンドル(handoru) (n) handle/steering wheel/handlebarを(wo) (prt) indicates direct object of action/indicates subject of causative expression/indicates an area traversed/indicates time over which action takes place/indicates point of departure or separation of action/indicates object of desire, like, hate,握ったno dictionary result, likely a conjigated verbno dictionary result, likely a conjigated verb。(。) Japanese period "."    
karera ga nemutte iru kan watashi ga handoru wo nigitta 。
Grammer form日常会話 (Casual form)Casual form (nichijoukaiwa)
everyday casual language, commonly used between friends and family.
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