Method for controlling a vehicle and a vehicle guidance system

A method or system for controlling a vehicle comprises entering a programming mode or a guidance mode based on user input to a switch (32). The user can enter a guidance program in accordance with a predetermined sequence of inputs of the switch (32) by the user, where readiness for each successive input is indicated by a light source (36). A guidance mode is managed for guiding a vehicle in accordance with the entered guidance program. An encoder (18) or sensor can sense a steering angle of a steering system. The steering angle is controlled in accordance with the guidance program if the system or the data processor (24) is operating in a guidance mode.