A new reentry guidance algorithm based on H-V profile for reusable launch vehicles was presented. The reentry trajectory was divided into two phases to plan independently, initial descent phase and transition phase. In initial descent phase, a constant bank angle is used to control flight. In transition phase, a fourth order analytic polynomial is used to describe the H-V profile, which can both satisfy the constraints of reentry corridor and terminal area energy management interface, and improve the planning-efficiency. The technique of feedback linearization is used to obtain an adaptive control law to track longitudinal profile; meanwhile heading error corridor is used to determine lateral motion, which can complete the longitudinal and lateral integrative-design. Simulation results show that the guidance algorithm has strong robustness against initial state errors and uncertain conditions.