This paper develops and implements a control policy for a tractor with a steerable trailer in a simulated environment. Starting from the kinematic model of the system, we verify constructively that there exists a prolongation of the system for which, through an appropriate regular change of variables and feedback, we can design a control policy for the system. We include a simulation of this policy and present the obtained results for a specific initial and final points to show the effectiveness of the procedure 2020/2021