The paper proposes the implementation of a control system for a variable-geometry suspension to achieve steering functionality. The implementation is performed in a Hardware-in-the-Loop (HiL) simulation environment with a unique suspension test bed. The purpose of the control system is to achieve path-following functionality for the vehicle with automatic steering based on the proposed system. The paper proposes the design and the implementation of a hierarchical control system. The high-level control is responsible for the computation of the requested steering angle, and the low-level control aims to realise the steering angle through the intervention of the linear actuator in the suspension system. The effectiveness of the proposed control system is demonstrated through HiL simulation examples.