A method and system improves sheet registration in a document processing device. A technique is implemented that produces accurate results with merely a small tail wag. To do so, the technique ultimately establishes or determines a variety of parameters (e.g. lateral position of a sheet, skew, registration time, nominal sheet velocity, and correction velocity). These parameters are then used to calculate a lateral velocity profile. In this regard, the calculated velocity profiles are applied to the wheels or nips, in the paper path. Thus, the wheels can be controlled and will allow for improved sheet registration in the document processing device.