We present the magnetic structure of the itinerant monoarsenide, FeAs, with the B31 structure. Powder neutron diffraction confirms incommensurate modulated magnetism with wavevector $\mathbf{q} = (0.395\pm0.001)\mathbf{c}^*$ at 4 K, but cannot distinguish between a simple spiral and a collinear spin-density wave structure. Polarized single crystal diffraction confirms that the structure is best described as a non-collinear spin-density wave arising from a combination of itinerant and localized behavior with spin amplitude along the b-axis direction being (15 $\pm$ 5)% larger than in the a-direction. Furthermore, the propagation vector is temperature dependence, and the magnetization near the critical point indicates a two-dimensional Heisenberg system. The nature of the magnetism in the simplest iron arsenide is of fundamental importance in understanding the interplay between localized and itinerant magnetism and superconductivity.