The dynamics of a barred galaxy depends on the pattern speed of its bar. The only direct method for measuring the pattern speed of a bar is the Tremaine-Weinberg technique. This method is best suited to the analysis of the distribution and dynamics of the stellar component. Therefore it has been mostly used for early-type barred galaxies. Nearly all the measured bars are as rapidly rotating as they can be. By comparing this result with high-resolution numerical simulations of bars in dark matter halos, it is possible to conclude that these bars reside in maximal disks.