This paper addresses the control of robotic manipulators using the velocity field approach. Instead of the usual specification in motion robot control via desired position trajectories depending on time, the specification in the velocity field control formulation is given through a desired velocity vector field as a function of actual position regardless of time. This approach is useful for control following task. This paper presents two controllers to solve the velocity field control formulation in task space. Experiments using these controllers on a two degrees-of-freedom direct-drive arm illustrate the feasibility of the proposed approach.