Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios. However, end-to-end models require large amounts of diverse data to perform. This paper presents a novel deep neural network that performs image-to-steering path navigation that helps with the data problem by adding one-shot learning to the system. Presented with a new path in a new but related environment, the vehicle can drive the path autonomously after being shown the path once and without model retraining. In fact, the full path is not needed and images of the road junctions is sufficient. In-vehicle testing and offline testing are performed to verify the performance of the proposed navigation by comparing different architectures.