The flight of a reusable spacecraft upon entry into the Earth’s atmosphere is considered. The trajectory of the entry of a reusable spacecraft into the Earth’s atmosphere by sections of initial descent and equilibrium motion, taking into account the flight dynamics of spacecraft at different altitudes. A solution is given to the problem of optimizing the segmented trajectory of a spacecraft’s entry into the Earth’s atmosphere using the direct method and the pseudospectral Gaussian method. As a result of the work, a change in the values of the variables of the trajectory of the spacecraft during its entry into the atmosphere was obtained, taking into account the terminal limitations of the spacecraft. The results obtained can be used in the development of control algorithms for reusable spacecraft.