They generally are able to steer by pivoting the main engines themselves, a technique called [gimballing](https://en.wikipedia.org/wiki/Gimbaled_thrust), or having smaller [vernier thrusters](https://en.wikipedia.org/wiki/Vernier_thruster), which works pretty well until you need to do fine manuevers without going forward (like spinning on your axis), which is where the [auxillary propulsion system you mentioned](https://en.wikipedia.org/wiki/Reaction_control_system) comes in.
Latest Answers