A wireless power transfer system comprises at least one power receiver (105) for receiving a power transfer from the power transmitter (101) via a wireless inductive power transfer signal. Configurers (207, 306) of the power transmitter and receiver may perform a configuration process to determine a set of power transfer parameter values which are used in a first power transfer. The power transfer parameter values and a first identity for the first power receiver (105) are stored. After a detection of an absence of the power receiver by a first controller (211), a detector (213) may detect a presence of a candidate power receiver. If the candidate power receiver is detected within a given duration and has an identity matching the first identity, an initialization processor (215) initializes a second power transfer using the set of stored parameter values. Otherwise it discards the set of stored parameter values.