A guidance system (120) identifies a path (110) on a field and then calculates a position and heading of a trailer (104) relative to the path (110). The guidance system (120) steers a vehicle (100) connected to the trailer (104) based on the calculated trailer (104) position and heading to minimize the trailer (104) positional error and more quickly and accurately align the trailer (104) with the path (110). The guidance system (120) may align the trailer (104) with the path (110) while steering the vehicle (100) in a reverse direction and may steer the vehicle (100) based on a predicted trailer (104) position and heading.
