This disclosure relates to a magnetic mixing apparatus that mixes a sample contained in a mixing chamber using a stir bar, while minimizing the amount of contact between the stir bar and walls of the mixing chamber. In one aspect, the apparatus comprises a ferromagnetic stir bar contained in the mixing chamber, and a driving magnet and a driven magnet located on opposite sides of the mixing chamber. The driving magnet, the driven magnet, and the ferromagnetic stir bar are each capable of rotating about a respective axis. The driving magnet, the driven magnet, and the ferromagnetic stir bar are magnetically coupled such that rotation of the driving magnet induces rotation of the driven magnet and rotation of the driving magnet and the driven magnet induce rotation of the ferromagnetic stir bar. In some embodiments, rotation of the ferromagnetic stir bar within the mixing chamber mixes the sample contained within the mixing chamber.