  We analyze bicovariant differential calculus on $\kappa$-Minkowski spacetime.
It is shown that corresponding Lorentz generators and noncommutative
coordinates compatible with bicovariant calculus cannot be realized in terms of
commutative coordinates and momenta. Furthermore, $\kappa$-Minkowski space and
NC forms are constructed by twist related to a bicrossproduct basis. It is
pointed out that the consistency condition is not satisfied. We present the
construction of $\kappa$-deformed coordinates and forms (super-Heisenberg
algebra) using extended twist. It is compatible with bicovariant differential
calculus with $\kappa$-deformed $\mathfrak{igl}(4)$-Hopf algebra. The extended
twist leading to $\kappa$-Poincar\'{e}-Hopf algebra is also discussed.
