The Collaborative International Dictionary of English v.0.48:

Steer \Steer\, v. t. [imp. & p. p. Steered (st[=e]rd); p. pr.
   & vb. n. Steering.] [OE. steeren, steren, AS. sti['e]ran,
   st[=y]ran, ste['o]ran; akin to OFries. stiora, stiura, D.
   sturen, OD. stieren, G. steuern, OHG. stiuren to direct,
   support, G. steuer contribution, tax, Icel. st[=y]ra to
   steer, govern, Sw. styra, Dan. styre, Goth. stiurjan to
   establish, AS. ste['o]r a rudder, a helm, and probably to
   Icel. staurr a pale, stake, Gr. stayro`s, and perhaps
   ultimately to E. stand. [root]168. Cf. Starboard, Stern,
   n.]
   To direct the course of; to guide; to govern; -- applied
   especially to a vessel in the water.
   [1913 Webster]

         That with a staff his feeble steps did steer.
                                                  --Spenser.
   [1913 Webster]