  The Milky Way dark matter halo is formed from the accretion of smaller
subhalos. These sub-units also harbor stars---typically old and
metal-poor---that are deposited in the Galactic inner regions by disruption
events. In this Letter, we show that the dark matter and metal-poor stars in
the Solar neighborhood share similar kinematics due to their common origin.
Using the high-resolution Eris simulation, which traces the evolution of both
the dark matter and baryons in a realistic Milky-Way analog galaxy, we
demonstrate that metal-poor stars are indeed effective tracers for the local,
virialized dark matter velocity distribution. The local dark matter velocities
can therefore be inferred from observations of the stellar halo made by the
Sloan Digital Sky Survey within 4 kpc of the Sun. This empirical distribution
differs from the Standard Halo Model in important ways and suggests that the
bounds on the spin-independent scattering cross section may be weakened for
dark matter masses below $\sim$10 GeV. Data from Gaia will allow us to further
refine the expected distribution for the smooth dark matter component, and to
test for the presence of local substructure.
