Method and apparatus for leakage signal cancellation in a simultaneous transmit and receive RF system includes: generating a digital transmit signal for transmission from the system; receiving a receive signal produced by reflection of the transmit signal from an object or generated by a second RF system; adaptively filtering the transmit signal by an adaptive finite input response (FIR) filter; calculating filter coefficients for the adaptive FIR filter in real-time at a different sampling rate; adaptively inputting the calculated filter coefficients to the adaptive FIR filter to generate a cancellation signal in real-time; and applying the cancellation signal to the receive signal to cancel leakage in the receive signal to generate an optimum receive signal.