This dissertation proposes a new guidance law using trajectory errors shaping for a course-correction-projectile (CCP) with very limited maneuverability. Compared to existing approaches, the proposed guidance law is derived directly from collision geometry, which is the fundamental concept of guidance process, so that it allows collisions with minimal guidance command and zero final guidance command. In the proposed method, the collision geometry considering the motions of CCP, called collision-ballistic-trajectory, and the corresponding heading error are first determined using the ballistic trajectory prediction technique, which is based on the partial closed-form solutions of the ballistic trajectory equations in conjunction with the sensitivity technique. The proposed guidance law that nullifies this heading error over a finite time is then derived by using a specific form of error dynamic equation. In this dissertation, the characteristics of the proposed guidance law are also investigated. Finally, numerical simulations demonstrate the characteristics and effectiveness of the proposed guidance law compared to the existing methods.