A method and system for planning a path for an agricultural vehicle is disclosed. The agricultural vehicle includes a steering mechanism configured to automatically steer the agricultural vehicle. The method includes accessing a recorded path plan, the recorded path plan including navigation data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system. The method also includes determining a first point on a first planned path accessed from the recorded path plan, determining a second point on a second planned path accessed from the recorded path plan, generating a connection path plan connecting the first point and the second point, generating a steering command based on the connection path plan, and providing the steering command to the steering mechanism to cause the agricultural vehicle to travel according to the connection path plan.
