Boat moving forward while rotating towards point

[TerraCratis]

I am trying to make a boat which sails to a point marked X. Okay thats easy, but I need that boat would sail forward and rotate towards its destination while making circle (ex. in image).

Would be great if someone direct me to good way to make this work.

[Graham-Dunnett]

Create the path using a spline. Then you can compute the position and the direction that the spline points in.