A system for controlling the position of a rigidly attached side-shifting-implement mounted on a mobile machinery while simultaneously controlling the position of the mobile machinery allowing the side-shifting-implement and the mobile machinery to follow a predetermined or adjustable path. The system applies to three-point attachments as well as rack and rail attachments. The system uses a controller to control the position of the side-shifting-implement using information received from a position monitoring system communication with a roving receiver mounted on the side-shifting-implement. The controller also controls the position of the mobile machinery using local relationship sensors mounted on the side-shifting-implement and on the mobile machinery. The relationship sensors allow the controller to use one roving data receiver instead of two roving data receivers to control both the position of the side shifting implement and the position of the mobile machinery.