A system for refilling a resource of an agricultural system (80, 90, 100) includes the agricultural system (80, 90, 100) including a tank (82, 92, 102) that stores the resource. The system also includes a support vehicle (10) including a container (20) that stores the resource, a locating system (18) that outputs a first signal indicative of a position of the support vehicle (10), a transfer system (52) that includes a resource transfer device (24), and a controller (42) communicatively coupled to the locating system (18) and the transfer system (52) including a processor (44) and a memory (46). The controller (42) determines a target location in a field to position the support vehicle (10), control the support vehicle (10) such that the support vehicle (10) is directed toward the target location, and instruct the transfer system (52) to activate the resource transfer device (24) to transfer the resource from the container (20) to the tank (82, 92, 102) while the position of the agricultural system (80, 90, 100) is within a threshold distance of the target location.