Vehicle platooning is often regarded as one of the most promising solutions for solving the road congestion issues. Experiments have successfully proven that longitudinal platooning can be safely achieved in real world applications using a platoon of several vehicles. Lateral control however, has received far less attention. The main difficulty with lateral platooning lies in the fact that the two possible vehicle following methods both have their own limitations. The direct vehicle following approach suffers from corner cutting, whereas with path following using path reconstruction is often unreliable and difficult to achieve in platooning applications. In this thesis work a new method is proposed which combines the strengths of both vehicle following methods, and at the same time negate their drawbacks.