This work is based on the multibody system dynamics rapid simulation and largescale industrial software Multibody system transfer matrix method simulation and design software (MSTMMSim) created by the National Key Laboratory of Complex Multibody System Dynamics. To implement the path tracking function for tracked vehicles in the software, this paper proposes a tracked vehicle path tracking strategy based on sliding mode and PID control. First, a sliding mode trajectory tracking controller is established by considering the vehicle’s current position errors and attitude errors. The sliding mode controller returns the desired linear and angular velocities of the vehicle’s center of mass. Based on the tracked vehicle dynamics model established in MSTMMSim, the PID controller adjusts the driving torques of the left and right sprockets according to the linear and angular velocity errors of the vehicle’s center of mass to correct the rotational speeds of the vehicle’s left and right drive wheels, thereby achieving trajectory tracking. Simulation results verify the effectiveness of this control strategy, which is applicable to path tracking of tracked vehicles with differential steering.