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A new class of autonomous underwater vehicle (AUV) is hybrid underwater glider (HUG) that integrates buoyancy engine and propeller as main actuator. This kind of vehicle has multi-mode to act, that is glider and AUV mode that derive to mathematical model for longitudinal and lateral plane. To design steer control of HUG, the mathematical model derive to linier equation, and the variable controller is rudder for yaw control and main thruster for speed control of HUG. The method of control design are PID, there is PD for yaw controller and P for speed controller that are simulated using Simulink MATLAB to get response so that we can verified the dynamic model for steering control using waypoint desire. The results demonstrate dynamic response for lateral plane over waypoint on the surfaces of water.