Designing, steering and controlling methods for a snake-like vehicle are presented with the experimental results using a model vehicle produced by the authors. Basic knowledge for the methods is obtained from biomechanical research on the snake, and the model vehicle behaves well in accordance with the theory of the methods. A steering system which is not complicated for manual operation is proposed, and the practical cascade control system for the movement in designated shape, speed and direction is synthesized. The model vehicle has twenty segments linked linearly together and is about two meters long. Applicability and technical considerations for further development in the future are discussed.