The present invention is directed to a self-calibrating clock synchronization system that receives a periodic, digital clock signal as a reference and generates therefrom a system clock signal that dynamically tracks and is synchronized to the reference clock. The invention utilizes state machine controlled selection circuitry that comprises a plurality of predetermined delays tapped to produce a number of phase-related clock signals, and multiplexing circuitry, for selecting one of the plurality of clock signals as the system clock. A comparator compares the selected clock signal and the reference clock to determine which leads or lags the other. In response to the comparison, selection, from the plurality of clock signals, of a system clock that most clearly matches the reference signal is made.