A directional drilling system consisting of a four-motor drilling head for better steering in directional drilling and vertical/horizontal drilling is developed. The rotational speed of each motor is independently controlled. The use of four motors in coordination with other traditional drilling variables allow precise control of the drilling direction and optimization of the rate of penetration (ROP). The top and right motors rotate in opposite directions to the bottom and left rotors to stabilize the roll rotation of the drilling head. Inclination (pitch) movement is obtained by increasing/decreasing the speed of the top motor while decreasing/increasing the speed of the lower motor. The Azimuth (yaw) movement is obtained similarly using the right and left motors. The drilling power is derived from down hole motors. A drill string transmits the drilling fluid and force on bit.