This study presents contemporaneous modeling of asset return and price range within the framework of stochastic volatility with leverage. A new representation of the probability density function for the price range is provided, and its accurate sampling algorithm is developed. A Bayesian estimation using Markov chain Monte Carlo (MCMC) method is provided for the model parameters and unobserved variables. MCMC samples can be generated rigorously, despite the estimation procedure requiring sampling from a density function with the sum of an infinite series. The empirical results obtained using data from the U.S. market indices are consistent with the stylized facts in the financial market, such as the existence of the leverage effect. In addition, to explore the model's predictive ability, a model comparison based on the volatility forecast performance is conducted.