In this paper, we introduce a numerical approach to synthesize a controller for the simultaneous arrival problem. We make use of an existing time optimal controller for a vehicle to reach a stationary target and compute the optimal time-to-go (TTG) map. The TTG map is a function of the range and bearing angle to the target and we use standard functional approximation techniques to obtain an analytic TTG expression. By deviating appropriately from the optimal controller, we are able to purposely manipulate the time rate of change of the optimal TTG function along the vehicle's trajectory. Specifically, the control input is designed to maintain a constant TTG, which allows the TTGs of teammates in a multi-agent system to synchronize their TTG. Once the vehicles reach consensus on the TTG, the control input is switched to the readily available optimal control. Discussion on initial conditions and simulation for justification are also provided.