An apparatus to control vehicle steering, the apparatus comprising: a path acquisition interface; and a controller configured to, during an acquisition mode: determine a steering angle of a wheel of the vehicle based on a trigonometric function including a distance associated with a turn radius of a front wheel of the vehicle to cause a global navigation satellite system receiver of the vehicle to acquire a desired path; and cause, utilizing the steering angle, the global navigation satellite system receiver to travel from a first position to a second position, the global navigation satellite system receiver located at the first position at a first sampling time and the second position at a second sampling time, the first sampling time and the second sampling time differing by a sampling interval; characterized in that the path acquisition interface is configured to obtain, via a user interface the sampling interval, and that the controller is configured to, during the acquisition mode, determine the next desired position of the vehicle in the path to follow based on the position that the vehicle actually reaches after each sampling interval. a path acquisition interface; and a controller configured to, during an acquisition mode: determine a steering angle of a wheel of the vehicle based on a trigonometric function including a distance associated with a turn radius of a front wheel of the vehicle to cause a global navigation satellite system receiver of the vehicle to acquire a desired path; and cause, utilizing the steering angle, the global navigation satellite system receiver to travel from a first position to a second position, the global navigation satellite system receiver located at the first position at a first sampling time and the second position at a second sampling time, the first sampling time and the second sampling time differing by a sampling interval; characterized in that the path acquisition interface is configured to obtain, via a user interface the sampling interval, and that the controller is configured to, during the acquisition mode, determine the next desired position of the vehicle in the path to follow based on the position that the vehicle actually reaches after each sampling interval. determine a steering angle of a wheel of the vehicle based on a trigonometric function including a distance associated with a turn radius of a front wheel of the vehicle to cause a global navigation satellite system receiver of the vehicle to acquire a desired path; and cause, utilizing the steering angle, the global navigation satellite system receiver to travel from a first position to a second position, the global navigation satellite system receiver located at the first position at a first sampling time and the second position at a second sampling time, the first sampling time and the second sampling time differing by a sampling interval; characterized in that the path acquisition interface is configured to obtain, via a user interface the sampling interval, and that the controller is configured to, during the acquisition mode, determine the next desired position of the vehicle in the path to follow based on the position that the vehicle actually reaches after each sampling interval.