A numerical method, modified simple-shooting method (MSSM), to solve two-point boundary-value problem (TPBVP) was presented. The method include favourable aspects of the short-shooting method (SSM) and multiple-shooting method (MSM). A comparison of computation time of MSSM, MSM, collocation methods (CM), and finite difference methods (FDM) was illustrated. It was observed that the convergence of the MSSM was proved under mild conditions on the TPBVP. The solutions of MSSM were resulted in a trajectory which satisfied the system differential equations.