A method and system for correcting paper registration skew. A skew or paper registration error of a sheet moving in a feed path is detected. A coarse adjustment, or copy paper registration, using full steps is performed until the registration error is reduced to a minimum value, below a full step. The frequency of one motor (18,20) with respect to the other, or a reference, or reference motors, is adjusted for a fixed period to enable a fine adjustment to correct the registration error.