A remote tiller control system includes a drive unit mounted to the tiller. The drive unit is adapted to move the tiller back and forth when selectively powered. A handheld remote control transmitter unit is provided to remotely control the drive unit and thus the position of the tiller. The drive unit includes a motor-drive gear that engages a curved rack. The motor is fixed to the tiller while the rack is fixed to a control arm. The end of the control arm is tied off to the boat to create the leverage needed to counteract the steering force on the tiller. Rotation of the gear against the rack creates a moment which drives the tiller.