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Dunno if you have ever backed a trailer in real life but its remarkably acurate in the game. Steer (I use the KB so A or D) in the direction you want the back end of the trailer to go. This will bein the opposite direction of how you would normally steer. Use a light touch and keep the wheels on the tractor straight. Small inputs go a long way.
Backing up a trailer takes a lot of practice. Even more so if there are two pivot points.
Some tips I've seen is to pay attention to the trailer as you're backing up. If the trailer is going in a direction you don't want, turn the opposite direction. Its easy for me because I've been playing various driving games for years... Its even easier if you have some sort of wheel to play with. The key thing is to take it slow and easy. Best way is to go straight as possible before backing up. Then, very carefully back up and make minor corrections as you go. If you over-steer, you may have to straighten out again.
But key word is practice.