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 and, as the machine travels the path, receive waypoint information from a user via the user interface indicating a plurality of initial waypoints associated with the path. The controller is further configured to present the initial waypoints to the user, receive selected waypoint information from the user via the user interface indicating one or more of the initial waypoints as selected waypoints, and automatically guide the machine using the one or more selected waypoints.