In this paper, we consider the position and attitude (six degrees of freedom) tracking control of rigid body spacecraft by PID-type state feedback control in order to remove the position and attitude error that are caused by step disturbance. Firstly, the relative motion equation of the six degrees of freedom rigid body spacecraft is derived. Secondly, we design PID type state feedback control law so that the closed loop system of the relative motion equation is asymptotically stabilized. Then, we extend the results to PID type adaptive state feedback controller with physical parameter update law. Finally, the effectiveness of the control methods is verified by simulations.