The present invention relates to tracking waveforms in radar which minimizes the dwell time and energy in a tracking waveform while maintaining a specified track positional accuracy and consequently velocity accuracy. The present invention provides a method and apparatus for selecting a tracking waveform in a radar apparatus comprising determining a target range rate; determining a signal strength; determining the radiated frequency of the subsequent transmitted tracking waveform; and modifying the energy and pulse repetition frequency used on subsequent tracking waveforms on the basis of the determined target range rate, signal strength and next transmitted tracking waveform frequency.