A method for guiding a weapon to a target, the method comprising: obtaining a required impact vector for the weapon at the target, obtaining a line of sight (LOS) vector from the weapon to the target; determining a velocity vector of the weapon; defining a guidance plane, the guidance plane being a plane in which both the impact vector and the LOS vector lie; generating guidance commands for the weapon to place the velocity vector of the weapon in the guidance plane with a velocity perpendicular to the guidance plane of zero.