In this study, to perform both a rapid attitude maneuver and a high accuracy control of an agile spacecraft, a Variable Speed Control Moment Gyroscope (VSCMG) steering law is proposed. In the proposed law, in order to maintain high manipulability and to control an internal disturbance of the VSCMG, initial gimbal angles of the VSCMG are optimized. In addition, the VSCMG acts like a classical CMG during the rapid attitude maneuver. During the high accuracy pointing control, the VSCMG acts like a Reaction Wheel (RW) to reduce the internal disturbance due to the gimbal motion. From the results of the numerical simulation, it was confirmed that the proposed law can control the agile spacecraft rapidly and high accuracy by switching several steering modes according to the attitude error of the spacecraft. In addition, the usefulness of the proposed law was confirmed in comparison with the steering law of Vadali for the rapid maltitarget acquisition and pointing control of the agile spacecraft.