Ascent trajectory optimization and explicit guidance problems for a satellite launch vehicle with yaw maneuver in a 3-dimension are considered. The trajectory optimization problem with boundary conditions is formulated as a nonlinear programming problem by parameterizing the inertial pitch and yaw attitude control variables, and is solved by using the SQP algorithm. The flight constraints such as gravity-turn and range safety conditions are imposed. An explicit inertial guidance algorithm in the exoatmospheric phase is also presented. The guidance algorithm provides steering command and time-to-go value directly using the current states of the vehicle and the desired orbit insertion conditions. The liquid propelled Delta 2910 launch vehicle is used as a numerical model.