Rotating to face a target

OK here’s the background, I am writing a traffic simulation with path finding with the use of A*. I’ve the translations between nodes( targets in the path ), steering behaviours (reduce and increasing velocity to accommodate corners arriving at goals etc). Although I haven’t found a way to represent orientation and rotations. I want the vehicles (in this case glutSolidCube ) to change rotation around corners to face the new target, in a gradual sense, right now they just translate in the direction of the next target. Any ideas?