major challenge during the descent of a reusable launch vehicle is to guide the unpowered vehicle to the runway safely by gliding through various phases, of which the third and final phase is Approach and Landing. Several constraints need to be satisfied during this phase in order to accomplish safe landing on the runway within a specified downrange. This paper proposes a simple integrated guidance and control scheme for Approach and Landing based on finite horizon LQR along with gain scheduling in order to achieve the touchdown requirements. A closed loop control law is designed to minimize the errors on the longitudinal vehicle states throughout the two-segment trajectory under off-nominal initial conditions. Simulation results validate that besides satisfying the constraints at touchdown, the scheme is robust enough to handle drag variations existing through out the entire Approach and Landing phase.