The present invention relates to a method for steering a vehicle (1) over a ground surface (4), wherein magnetic marking elements (5) are arranged in the ground surface at predetermined locations and wherein the vehicle is provided with a number of sensors (3) arranged adjacently of each other in transverse direction of the vehicle, wherein during travel of the vehicle the substantially vertical components of the magnetic field is measured in each of the sensors, and wherein on the basis of the intensities of magnetic field measured by the sensors an estimation is made of the position of these sensors relative to the magnetic marking elements, and thus of the vehicle relative thereto.