A system for controlling a vehicle. The vehicle has a steerable front axle and at least one further steerable axle. The system determining the path of a reference lead point at the front of the vehicle and determining the path of a follow point at the rear of the vehicle. A controller for driving the at least one further steerable axle of the vehicle such that the deviation between the path of the lead point of the vehicle and the follow point is within a predetermined range while the vehicle is in motion.
