A system and method for determining on a continuous, real-time basis the proximity of the esophagus to an endocardial catheter during mapping, ablation or other endocardial catheter-based procedures, comprising an esophagus probe catheter and an endocardial catheter adapted for proximal signal transmission between each other. A signal processing unit is included to process and compare a characteristic of the proximity signal that is changes or attenuates with distance between the two catheters, such as impedance, amplitude and/or phase. Audio and/or optical outputs are provided to alert an operator when the distance between the catheters changes or is below a baseline measurement to avoid damage to the esophagus by the endocardial catheter. The system and method may include adaptations of the catheters with location sensor, and a mapping/navigational system for nonfluoroscopic location determination of the catheters.