Abstract: Chang' e-3 implemented its soft landing on the moon which is the first time for a Chinese spacecraft to conduct soft landing on an extraterrestrial body. GNC is the key to achieve successful soft landing. For the desire of high safe and reliable soft landing, the soft landing flight program including rough-fine-relay hazard avoidance is designed, the autonomous navigation method based on single beam time-sharing correction and multi-beams fusion filter, and the self-adaption powered explicit guidance, the non-iteration polynomial large hazard avoidance guidance, the inner-outer-loop small hazard avoidance guidance are presented. The real flight result of Chang' e-3 shows integration that the high-precision states is estimated by navigation algorithm, the high-precision states control and effective hazard avoidance maneuver areimplemented by guidance algorithm to ensure the safety and reliability for lunar soft landing.