We study the self-propelled motions of a rigid body immersed in a viscous incompressible fluid which fills the exterior domain of the rigid body. The mechanism used by the body to reach the desired motion is modeled through a distribution of velocities at its boundary. The fluid motion is modeled by the stationary Navier-Stokes system. These equations are coupled with two relations for the balance of forces and torques. We prove that there exists a control allowing the rigid body to move with a prescribed rigid velocity provided the velocity is small enough. We also show that since the net force exerted by the fluid to the rigid body vanishes, we have a better summability of the fluid velocity than the classical summability result for the solutions of the stationary Navier-Stokes system in exterior domains.