Beam steering enables manipulation of the electromagnetic radiation patterns in antenna array systems. A methodology for steering beams in the near field of a planar antenna array with known phase wavefront functions towards arbitrary azimuth and elevation angles is described in this paper. Rotation of the phase wavefront function is used while preserving the shape. The phase shifts for antenna element excitation currents are determined based on the distances from antenna elements to the nearest point on the rotated wavefront. Beam steering utilizing a Gaussian and a Bessel beam is studied. Phase distribution examples for various steering directions are considered. For Bessel beam steering, a discussion on the resulting beam shapes and the steering impact on the polarization mismatch is provided. The results show a non-negligible magnitude of the cross-polarization with values depending on the steering direction.