<p>This study introduces a nonlinear real-time sub-optimal guidance scheme for aerial vehicles, integrating Bézier Curve and model predictive static programming (MPSP). The guidance scheme ensures simultaneous satisfaction of path constraints (bounded lateral and longitudinal accelerations) and terminal constraints (desired impact angles in azimuth and elevation, and target accuracy). Bézier Curve modeling reduces control points, enhancing suitability for real-time applications. Bézier points address path constraints, while MPSP tackles terminal constraints. Performance is demonstrated across scenarios, including stationary, moving, and maneuvering targets, with multiple munitions engagements. Comparative studies reveal the proposed Bézier-MPSP guidance surpasses a reference MPSP algorithm in terms of computational efficiency and adherence to path constraints, demonstrating a notably larger capture region.</p>