How do I make an object look at a point it is moving toward?

I have this driving game and I want to put other cars autonomously driving around on the roads. I have another car and it moves towards waypoints and that works fine, but I cant get it to face the waypoints it is traveling toward. Can anyone help? This is the code I have so far. What changes should I make?

// array to hold waypoint locations var waypoints : Transform[];

// variable to control time taken to travel between points var duration : float = 1.0;

private var startPoint : Vector3; private var endPoint : Vector3; private var startTime : float;

// the array index number of the current target waypoint private var targetwaypoint : int;

function Start() {

 startPoint = transform.position;
 startTime = Time.time;

 if(waypoints.Length <= 0){
     Debug.Log("No waypoints found");
     enabled = false;
 }

 targetwaypoint = 0;
 endPoint = waypoints[targetwaypoint].position;
 

}

function Update () {

 var i = (Time.time - startTime) / duration;
 transform.position = Vector3.Lerp(startPoint, endPoint, i);
 
 

 if(i >= 1){

     startTime = Time.time;

     // increment and wrap the target waypoint index
     targetwaypoint++;
     targetwaypoint = targetwaypoint % waypoints.Length;

     // assign the new lerp waypoints
     startPoint = endPoint;
     endPoint = waypoints[targetwaypoint].position;
        


 }

}