A robotic surgical system or simulator includes an input device, a display device, and a processing unit. The display device includes a representation of a surgical tool that is operably associated with the input device. The processing unit is in communication with the input device and is associated with the representation of a surgical tool to rotate the representation about a first axis of movement based on a scaled rotation of the input device about a first axis of rotation. In an aligned configuration, the input device is aligned with the representation about the first axis of rotation. When the input device is misaligned with the representation, the processing unit varies the scaled rotation of the input device to return the input device to the first aligned configuration until the input device is misaligned about the first axis of rotation a first predetermined offset from the aligned configuration.