Systems and methods for reconstructing a motion-compensated magnetic resonance image are presented. In certain implementations, a computer-implemented method is provided. The method may include a plurality of operations, including receiving a set of k-space data from a magnetic resonance imaging device, dividing the set of k-space data into a plurality of groups, performing a plurality of initialization operations, performing a first iterative process until a first criteria for the first iterative process is achieved for a current scale of motion estimation, performing a second iterative process until a second criteria for the second iterative process is achieved, and outputting a motion-compensated magnetic resonance image reconstructed in accordance with a predetermined scale of motion estimation.