A lead adapted to be steerable during insertion into an animal body includes the following. A structure substantially defining at least one principal planar surface, the structure having a proximate end and a distal end. The structure includes a tip portion on the distal end, and a body portion, with the tip portion being flexible in directions substantially parallel to said at least one principal planar surface. A shape of the tip portion is changeable, and an end of the tip portion traces a path within a plane substantially parallel with the at least one principal planar surface. At least one electrode is connected with said structure.