Described is a method of generating a flow having a composition gradient such as a mobile phase gradient for liquid chromatography. A pair of pumps is operated such that the initiations of pump strokes for one pump are controlled to occur between the initiations of pump strokes for the other pump so that the sequences of pump strokes fort the two pumps are interspersed in time. Initiations of the pump strokes of the second pump are offset in time relative to initiations of the pump strokes of the first pump such that variations in the flow rates of the first and second pumps due to initiation do not overlap in time. The volume of liquid contributed by a pump stroke is controlled according to the relative contribution of the respective pump to the composition gradient.