Maneuvering an underwater vehicle is a difficult task. This 3-D steering can be solved by using an unique steering system which uses cycloidal propeller for steering. This system allows rapid steering and control. Conventional rudder operates when propeller is in operation but,this system enables a vehicle to turn even in ideal condition. This has number of blades which change pitch as a function of orientation during turning. All these blades turn normal to the surface and they produce thrust in required direction in the tangential plane. This device can be mounted on the bow or stern of underwater vehicle and it produces thrust required for turning. For low speed vehicles like Remotely Operated Vehicle’s and Autonomous Underwater Vehicle’s this can be fixed on the bow and for fast vehicles (attack vehicles and submarines) a system of starboard propeller and port propeller combined with center line ‘power rudder’ can be adopted.