A method of decorating a panel (7) comprises the steps of supplying a panel (7) to a carrier (3), performing at least a first printing step by means of a first printing module and performing a second printing step by means of a second printing module, wherein the first and second printing steps are performed according to a predetermined positional relationship to form the decorated panel (7), and wherein during and between first and second printing steps the panel (7) is held at a substantially fixed position with respect to the carrier (3).