A calibration method for a capacitive sensing device is disclosed. The capacitive sensing device is capable of operating in a self-sensing mode or a mutual-sensing mode. The calibration method includes detecting a capacitance change of a panel in the self-sensing mode to generate a self-sensing output signal, detecting a capacitance change of the panel in the mutual-sensing mode to generate a mutual-sensing output signal, calculating a self-sensing difference between the self-sensing output signal and a self-sensing static parameter, and calibrating the mutual-sensing output signal according to the mutual-sensing output signal and the self-sensing difference.