Methods and apparatus are provided for calibrating a motion tracking system (100) including a plurality of orientation sensors (102a-103h) attached to a plurality of body segments (104a-105h) of a user (9101). The methods and apparatus receive a first set of orientation signals from a first set of the orientation sensors (102a-102g). The first set of orientation signals associated with a first pair of the body segments (102a, 102f) matching a first set of predetermined positions. The skeleton dimension of the user and the mapping between the body segments and the corresponding attached sensors (102a-103h) are calibrated based on the first set of orientation signals. A first template including the first set of predetermined positions may be used, and the first pair of the body segments (104a, 104f) include the feet of the user. Receiving the first set of orientation signals includes receiving an orientation signal from each of the first set of sensors 102a-102g as the feet of the user (101) are placed on each of the first set of predetermined positions of the template.