To reduce the cost of launch, several aerospace companies are exploring the possibility of partly reusable launchers. In order to be reusable with minimum refurbishment cost the reusable part of the launcher has to suffer little damage and land in optimal conditions. In this paper, a guidance algorithm to achieve the return of the reusable vehicle on ground through a vertical landing is described. Different mission scenarios are taken into account and the performance of the guidance algorithm is assessed using a 6 Degrees Of Freedom simulator.