This paper proposes the design and analysis of a yaw command tracking control algorithm for wind turbines in wind farm control applications. The algorithm was designed for the basic supervisory and power control of a 5 MW research wind turbine proposed by the National Renewable Energy Laboratory (NREL), along with an automatic yaw control designed to verify the results of the analysis using simulations. Additionally, the developed algorithm was used with other control algorithms. The yaw control performance of the proposed tracking algorithm was verified by conducting dynamic simulations using DNV-GL's Bladed program. Furthermore, the operational performance of the algorithm was verified using different simulating situations with different yaw steering commands delivered from a wind farm controller during normal operations, with changes in the wind direction.