A robotic surgical system with user engagement monitoring includes a robot assembly, a surgeon console, and a tracking device. The robot assembly includes a robotic arm coupled to a surgical instrument. The surgeon console includes a display device and a handle communicatively coupled to at least one of the robot assembly, the robotic arm, or the surgical instrument. The tracking device includes an image capture device configured to capture an image of a user position reference point. At least one of the surgeon console or the tracking device is configured to compute a position of the user position reference point based on the image; determine whether a user is engaged with the surgeon console based on the computed position; and, in response to a determination that the user is disengaged from the surgeon console, cause the robotic surgical system to operate in a safe mode.