Wheels moving with object?

Is there a tutorial that shows how to make wheels spin with car, of course, the speed of rotation would match the distance traveled. Can this be done within blender or does it need to be scripted.

I googled this but could not find an answer.

Thanks

There is a car rig and pdf tutorial here http://3d-synthesis.com/tutorialsenglish.html

use a transformation constraint.

@ RM thanks for pointing this out!