A quantum spline is a smooth curve parametrized by time in the space of unitary transformations, whose associated orbit on the space of pure states traverses a designated set of quantum states at designated times, such that the trace norm of the time rate of change of the associated Hamiltonian is minimized. The solution to the quantum spline problem is obtained, and is applied in an example that illustrates quantum control of coherent states. An efficient numerical scheme for computing quantum splines is discussed and implemented in the examples.