An apparatus and method for tracking the position of one or more connected rigid bodies using markers attached to the rigid bodies by laterally compliant connectors. Systems based on this method are comprised of laterally compliant connectors, a position tracking system and a data processing algorithm to determine the positions and orientations of the rigid bodies. Variations in the methods of attachment of the laterally compliant connectors, the means by which lateral compliance in the connector is produced, and in the layout of the markers are presented.