The output maneuvering problem generally consists of geometric task and dynamic task. In this paper, the adaptive maneuvering control based on output feedback is studied for multi-input multi-output nonlinear system with parametric uncertainty. The virtual estimation of the controlled system states is achieved by introducing filters and observer. Based on the backstepping approach in vector form, an output feedback adaptive maneuvering control scheme is proposed and three kinds of adaptive laws governing the path variable are presented. The geometric and the dynamic tasks are solved, meanwhile the global stability of the closed loop systems is guaranteed through the control scheme. The simulation results show the effectiveness of the proposed scheme.