This is the approximate trajectory of the SpaceX ITS Mars lander during its approach, entry, descent, and landing phases. SpaceX has not released the Earth reentry trajectory, but it will probably be similar, albeit with lower speeds and a far denser atmosphere (which translates to a far shorter and more vertical glide.)

This is a high-level, overly simplified explanation of the “hoverslam” maneuver the SpaceX Falcon 9 performs during landing.