A new method to determine the orientation relationship between martensite and bainite with the parent austenite is developed based on electron backscatter diffraction analysis. This method can determine the orientation relationship accurately without the presence of retained austenite, and is applicable to lath martensite and bainite in low-alloyed carbon steels. The angles between close-packed directions are about 3° for lath martensite regardless of the carbon content, while the angles between close-packed planes become smaller with increasing carbon content.