In this paper, we study cooperative control problems with trajectory tracking and reconfigurable formation for a multi-vehicle system expressed as a first-order system. Specifically, we describe a problem that cooperatively controlled vehicles keep geometric configuration among the multiple vehicles while the vehicles are moving in formation. In other words, each of the vehicles must change its position individually to keep the geometric configuration while the vehicle is moved by a cooperative control. In order to achieve this objective, we basically extend our previous result which was a control algorithm to surround a moving target by a group of vehicles cooperatively. The algorithm was based on a consensus algorithm which was cooperative control. In addition, we apply a leader-follower structure to our cooperative algorithm so that a leader can individually provide each of the followers with commands. Finally, the proposed approach is validated by some simulations.