GoutteDriver provides a bridge for the Goutte headless browser. Goutte is a classical php headless browser which extends the BrowserKitDriver.
Step 1: To install GoutteDriver use below command
$ composer require --dev behat/mink-goutte-driver
Step 2: Configure behat.yml and enable GoutteDriver, check here
Step 3: Write below feature file
Feature: Login
Scenario: Login with existing user
Given I am on the homepage
Then I follow "Sign in"
Step 4: Execute behat command
$ bin/behat
path may be different for you for behat command.