We present a 2-degrees-of-freedom (2-DoF) haptic device, which can be either used as a grounded or a hand-held device. It is composed of two platforms moving with respect to each other, actuated by two servomotors housed in one of structures. The device implements a rigid coupling mechanism between the two platforms, based on a threelegged 3-4R constrained parallel linkage, with the two servomotors actuating two of these legs. The device can apply position/kinesthetic haptic feedback to the user hand(s). This paper presents the device and its kinematics, together with a human subjects experiment where we evaluate its capabilities to provide meaningful directional information.