An antenna positioner, and methods of positioning using the antenna positioner, that may track a satellite are described. An antenna positioner may include a base and a mount rotatably coupled to the base to turn the mount about an azimuth axis. The mount may support an antenna element so that the antenna element can rotate about the elevation axis with respect to the mount. A center drive shaft for the elevation drive may pass through the hollow portion of the mount along the azimuth axis to drive a bevel gear set, a first gear of the set being coupled to the drive shaft and a second gear of the set being coupled to the antenna element, to rotate the antenna element about the elevation axis. Drive compensation is provided to counteract elevation rotation resulting from cross-coupling of the azimuth and elevation axes by the bevel gear set during azimuth rotation.