A method of planning a path of a vehicle, the method comprising: defining or obtaining an outer boundary of a work area or a field; obtaining an implement path plan of an implement associated with a first vehicle, the implement path plan comprising a series of recorded position points along a recorded guidance path of an implement and a set of plant rows defined with reference to the recorded guidance path in the work area or the field; characterized by the steps of: determining a present position and present heading of a second vehicle in the work area or the field; determining candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the defined plant rows are associated with one or more candidate passes and consistent with a planned guidance path ; from the present position and heading, displaying the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize total number of passes within the work area or field; and supporting selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field. defining or obtaining an outer boundary of a work area or a field; obtaining an implement path plan of an implement associated with a first vehicle, the implement path plan comprising a series of recorded position points along a recorded guidance path of an implement and a set of plant rows defined with reference to the recorded guidance path in the work area or the field; characterized by the steps of: determining a present position and present heading of a second vehicle in the work area or the field; determining candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the defined plant rows are associated with one or more candidate passes and consistent with a planned guidance path ; from the present position and heading, displaying the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize total number of passes within the work area or field; and supporting selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field. determining a present position and present heading of a second vehicle in the work area or the field; determining candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the defined plant rows are associated with one or more candidate passes and consistent with a planned guidance path ; from the present position and heading, displaying the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize total number of passes within the work area or field; and supporting selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field. <EOS>