The invention features a system and method to automatically focus an image reader using a single frame of image data. The method comprises exposing sequentially a plurality of rows of pixels in the image sensor. The method further comprising varying in incremental steps the focus of the image reader's optical system from a first setting where a distinct image of objects located at a first distance from the image reader is formed on the image sensor to a second setting where a distinct image of objects located at a second distance from the image reader is formed on the image sensor. As part of the method, the varying of the focus of the optical system occurs during the exposure of the plurality of rows of pixels.