There are no automatic tool available for calculating steepness and concavity index directly in GIS environment. The main problem is the log binning and other refinement of the gradient data as it is very noisy. The suggestion given by Girish sir is no doubt the best one. But it requires Matlab interface and it is difficult to add in Arc Map. But Geomorphtool produces segment wise normalized steepness index which you can compare in different drainage basins.
Otherwise if you have only one basin, then try Matlab based Topotoolbox. You can download it from
https://topotoolbox.wordpress.com/download/
or
http://csdms.colorado.edu/wiki/Model:TopoToolbox
It is the best tool for drainage analysis with easy system. This does not require in depth knowledge of Matlab. The steepness index produced by this software can be converted to shp file where you can display segment wise steepness index.
Take a look on the pdf. Hope it will work with very little knowledge about Matlab.