According to the present invention a portable hand-held device (1) for detecting the spatial position of a working point of a manipulator, in particular of a robot, comprises handling means (2, 3) for handling the hand-held device by a user, means for detecting a position (4), wherein a spatial position of the means for detecting a position (4) is detectable; and a tactile element (5) which is connected, preferably detachably connected, to the means for detecting a position and at which a reference point (R) is defined, wherein the handling means (2, 3) and the means for detecting a position (4) are connected with one another by a joint.