A printing system includes a printhead to eject ink onto a print medium in a print zone. A first roller pair is adjacent to the print zone to advance a print medium into the print zone. A second roller pair upstream from the first roller pair, and driven by an independent motor, advances the print medium to the first roller pair in a position control mode. A controller causes the second roller pair to switch from the position control mode to a force control mode when a leading edge of the print medium reaches the first roller pair. The second roller pair applies a substantially constant force to the print medium in the force control mode to push the leading edge of the print medium against the first roller pair while the first roller pair is stationary.