To compensate for the effects of vibration on a lidar system in a vehicle, a vibration sensor within the lidar system and/or the vehicle detects vibration, such as a gyroscope, accelerometer, inertial measurement unit (IMU), etc. The detected vibration is then used to generate a compensation signal. The compensation signal is combined with a drive signal that drives a scanner configured to direct light pulses across a field of regard. The combined signal is provided to the scanner, and accordingly, the light pulses are accurately directed across the field of regard.