A simple, stable, and robust path following controller is derived for 4WS vehicles. Front and rear viewpoints are defined as centers of percussion of rear and front wheels, respectively. The controller uses the two viewpoints as datum points to determine course errors. Front and rear course errors follow second order differential equations, where yaw rate and vehicle body slip angle are inputs to the equations. The controller can cope with unknown cornering power parameters. Steady state values ate derived from lock-on capability. Simulation results on a packed-snow road are given for the controller assuming dry asphalt parameters.