Riemannian volume vs Haar measure?

Question

Consider $SL(d,\mathbb{R})$ or $GL(d,\mathbb{R})$. Is it true that the Riemannian volume measure $\mathrm{vol}$ on these Lie groups as submanifolds of $\mathbb{R}^{d \times d}$ is the same as the Haar measure $\lambda$? I feel that this is true but I am not sure how to show it.