Abstract We provide a theoretical framework to mold time-modulated mechanical metamaterials with frequency conversion and wave-steering capabilities. To illustrate the concept, we initially focus on 1D lattices, whereby a sufficiently slow time-modulation of the stiffness is employed to convert the frequency content of impinging waves. Based on the adiabatic theorem, we demonstrate that undesired reflections, which emerge in time-discontinuous materials, can be dramatically reduced by a careful choice of the modulation velocity. The concept is later explored in the context of 2D lattices, whereby a slow time modulation of the stiffness not only induces frequency conversion with minimal back-scattering, but also serves as a mechanism to steer waves. Our paper explores a new and exciting way to control wave propagation in elastodynamics with scattering-free guiding capabilities, and may open new avenues for the manipulation and transport of information through elastic waves.