This paper introduces a velocity based guidance strategy for 3D time-prescribed path following. A second alternative, acceleration based guidance law that incorporates an integral action, is proposed to deal with the more adverse environments. The proposed strategy, which is combined with an efficient nonlinear control strategy for under-actuated systems, is applied to a quadrotor. It ensures the convergence toward the reference trajectory and allows the quadrotor to imitate the behavior of a fixed-wing UAV in the plane (non-holonomic like-navigation). The effectiveness of the proposed Guidance & Control (G&C) loop is shown through some numerical simulations.