It depends on where the ship is. On the open sea, the captain or any crewman he assigns may drive the ship. While in a harbor, or a channel such as the Inter Coastal Waterway (ICW) along the east coast of the US, a pilot or harbor pilot steers the ship.
In many Navies the person who drives the ship is known as a Helmsman.
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The Figurehead
Coxswain
Someone called a Pilot, a captain with extra good local knowledge.
A statue at the prow of a ship is called a "Figurehead".
The commander of a ship is the Captain.