Single-mode waveguide designs frequently support higher order transverse modes, usually as a consequence of process limitations such as lithography. In these systems, it is important to minimize coupling to higher-order modes so that the system nonetheless behaves single mode. We propose a variational approach to design adiabatic waveguide connections with minimal intermodal coupling. An application of this algorithm in designing the "S-bend" of a whispering-gallery spiral waveguide is demonstrated with approximately 0.05 dB insertion loss. Compared to other approaches, our algorithm requires less fabrication resolution and is able to minimize the transition loss over a broadband spectrum. The method can be applied to a wide range of turns and connections and has the advantage of handling connections with arbitrary boundary conditions.