There is provided a method and system for connecting a teat cup (4) to a first teat (1) of an udder (3). In connecting, a first reference position (10) on the first teat (1) is taken for connecting, until that reference position (10) is covered by the teat cup (4), or is otherwise no longer observed. Then, a further reference position (11) on the udder is taken for tracking movements by the dairy animal. Thus the optimum reference position (10) is used for connecting, while when this optimum position is no longer available, a further reference position (11) is taken.