A system for mapping terrain using at least one machine traveling along the terrain includes at least one controller. The at least one controller is configured to determine a plurality of machine parameters of the at least one machine as the at least one machine travels along the terrain. The plurality of machine parameters include a steering parameter and a speed of a component of the at least one machine. The at least one controller is also configured to determine, based on the determined machine parameters, a geometry and a grade of at least one path on the terrain along which the at least one machine travels. The at least one controller is further configured to create, based on the determined geometry and grade, a map indicating the at least one path.