This paper presents a new guidance law for a missile with constant acceleration. When target velocity and missile acceleration are constant, there exists the straight collision course which depends on the initial positions of a missile and a target. The presented guidance law guides a missile so as to fly along the collision course. The implementation of the guidance law needs the values of missile velocity vector, target velocity vector and the relative position vector between a missile and a target. If the measurement of these variables is difficult, this paper also presents the simplified method of constructing the guidance law by use of only the initial values of time-to-go and missile velocity, which are given from a launcher or a parent aircraft before launch. The performance of the presented laws is compared with that of the conventional proportional navigation using simulation studies of a planar model. The simulation results show that the magnitude of missile acceleration produced with the presented guidance laws are far smaller than that with a proportional navigation.