Try
AllSport GPS. There is an option to download routes to your phone.
I've used this software before for tracking my bike/hike routes in the past. It is pretty good piece of software and I liked it. However, I have not tried downloading a route and following it. If you end up trying let us know how it work. There is a 30 day trial period, after which it is $5.99/month. I wouldn't mind paying a one-time fee for a software like this; but monthly was no-no for me. Hence I'm not using this anymore.