Methods and systems for tracking frequency offset in NR are provided. A user equipment (UE) can compute the frequency offset comprising of crystal frequency drift and Doppler shift. Drift in frequencies generated by crystal oscillators in the UE and a base station are detected and nullified. Doppler shift of a serving beam is estimated using either data collected by sensors in the UE or reference signals received from the base station. Values of Doppler shift for a plurality of beams are estimated using the Doppler shift of the serving beam and sensor data, wherein the serving beam and the plurality of beams correspond to a same transmitter beam or different transmitter beams, wherein the type of QCL of the beams is either A, B, or C.