A guidance system for a mobile machine includes a location determining device for determining a location of the machine, a user interface and a controller. The controller is configured to receive location information from the location determining device, detect a path followed by the machine using the location information, present a plurality of preliminary waypoints to a user via the user interface, receive waypoint information from the user via the user interface indicating one or more selected waypoints corresponding to one or more of the preliminary waypoints, and automatically guide the machine using the one or more selected waypoints. The controller may automatically generate the plurality of preliminary waypoints as the machine traverses the path.