Planning is a fundamental part of navigation. The notion of a cognitive map of space in the brain is intertwined with the idea that organisms can plan, imagine, and mentally navigate this cognitive map to choose which routes to follow, and to execute trajectories to reach a desired goal. Memory systems in the mammalian brain that function to store information and remember the past also have a role in imagining the future and planning actions; memories of the past contribute to planning the future. This link between the past and future aligns with the role of a default mode network in the brain, which is active both for memories and imagination. The primary drive behind navigational planning is linked to goal representations. The hippocampus and prefrontal cortex—core of the episodic memory and executive functioning systems, respectively, in the mammalian brain—are key for using past experiences to guide the future and support planning, to deliberate options leading to goals, to execute decisions to choose a path, and to make online changes to the navigation plan, such as rerouting. It is therefore critical to understand (a) navigational representations in the hippocampus and prefrontal cortical regions at multiple timescales (e.g., spatial maps, reward signals, goal coding, context and rule representations) and (b) how interactions between the two regions support planning and execution of navigational strategies. This chapter examines hippocampal-prefrontal spatial representations and their interactions, especially in rodents, for navigational planning.