In this paper, the design procedure of a guidance algorithm in the boosting phase of missiles with free-flight after thrust cut-off is introduced. The purpose of the guidance is to achieve a required velocity vector at the thrust cut-off. Trajectory optimizations for four cost functions are performed to investigate implementable trajectories in the pitch plane. It is observed from the optimization results that high angle of attack maneuver in the beginning of the flight are required to satisfy the constraints. The proposed guidance algorithm consists of the pitch program to produce open-loop pitch attitude command and the yaw attitude command generator to nullify the velocity to go. The pitch program utilizes the pitch attitude histories obtained from the trajectory optimization.