AllsportGPS works if you're willing to spend 10 bucks on it.

OsmAnd is a free program, though there's a steep learning curve.

You can also use My Maps (a Google Maps feature) to create your route on the PC, and then use My Maps on your phone within the Maps app to view and navigate through that route.

The biggest problem you're going to run into is if you lose service at any point during your trip. While the navigation features will still work, the maps will no longer be visible. OsmAnd gets around this problem by pre-caching the maps, neither of the other two can do that.