An articulated arm portable coordinate measurement machine (PCMM) can be calibrated or recalibrated using a coordinate measurement machine (CMM). In one method for PCMM calibration, the CMM can be moved to one position, and the PCMM moved to a contact position where a probe head of the PCMM contacts a probe head of the PCMM. The PCMM and the CMM can be operatively coupled, for example, by a synchronizing cable such that position data from the PCMM and the CMM can be obtained at the contact position. The PCMM can be repositioned one or more times to obtain position data at multiple PCMM positions. The CMM can be repositioned as desired and additional contact position data sets obtained by subsequent positioning and repositioning of the PCMM. Various probe head types such as touch trigger probes, hard probes, and contact probes can be used in the calibration systems and methods.