Purpose: To design an integrated guidance and control design for a formation flight of four Unmanned Aerial Vehicles to follow a moving ground target. Design/methodology/approach: The guidance law is based on the line-of-sight. The control is optimal. The guidance law is integrated with the optimal control law and is applied to a linear dynamic model. Findings: The theoretical results are supported by the numerical simulations that illustrate a coordinated encirclement of a ground maneuvering target. Research limitations: A linear dynamic UAV model and a liner engine model were employed. Practical implications: This is expected to provide efficient coordination technique required in many civilian circular formation UAV applications; also the technique can be used to provide a safe environment required for the civil applications.