This paper presents a simple steering control algorithm for a rigid body model, which is a famous example of non-holonomic control systems with drift. The controllability Lie Algebra of a rigid body model contains Lie brackets of depth two. We propose a back-stepping-based adaptive controller design under the strict-feedback form. We analyze two cases for continuous steering. In the first case, the parameters of the model are assumed to be known while in the second case these are estimated by considering them unknown. This approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques. The practical effectiveness of the controller is illustrated by numerical simulations and graceful stabilization.