This paper presents a guidance and attitude tracking control scheme in continuous time for a rigid body in SO(3), using time-varying artificial potentials. This novel idea leads to generation of an attitude trajectory that passes through desired attitude waypoints and feedback tracking of this trajectory. These waypoints can also be used for avoiding attitude or pointing direction constraints so that safe attitude navigation is ensured. Artificial time-varying potential fields at these waypoints that are attractive, are introduced. Bump functions of time, which are smooth but not real analytic, are used to generate these potentials at the desired attitude waypoints. For the terminal attitude, a different type of smooth function is used. The rigid body attitude in these time-varying potential fields gets attracted towards the desired attitude waypoints during certain time periods. This generates an attitude trajectory passing through these desired waypoints sequentially in time. A Lyapunov analysis is carried out to show stable attitude tracking through the desired waypoints and ending at the terminal attitude, using these time-varying artificial potentials. Numerical simulations are carried out to test the performance of this attitude guidance and tracking scheme.