A plural-frequency capacitive occupancy sensing system comprises an antenna electrode and a detection circuit, which is configured to drive the antenna electrode at least with a first and a second signal at a first and a second frequency, respectively, so as to obtain at least a first and a second measurement value indicative of at least one of conductance, susceptance, resistance, reactance and capacitance between the antenna electrode and a reference node, at the first frequency and the second frequency, respectively. The detection circuit compares the capacitance between the antenna electrode and the reference node with a threshold capacitance, the threshold capacitance being derived from a difference between the first and second measurement values and/or the capacitance between the antenna electrode and the reference node being corrected based upon the difference between the measurement values. The detection circuit outputs an occupancy state signal depending on the comparison.