To maintain communication quality of a mobile satellite antenna system without disconnection, the satellite tracking technique is required. There are two major tracking methods called step tracking and monopulse tracking, which utilize satellite signals as a tracking feedback. The monopulse tracking method provides fast and accurate tracking performance, whereas it can be used only in limited small regions near the satellite’s direction. In the case of step tracking method, it can be applied in relatively large regions. However, this method also has a limitation, in that it cannot provide fast and accurate tracking performance near the satellite direction. In this paper, a hybrid tracking method composed of step tracking mode and monopulse tracking mode is proposed. The proposed tracking method can present accurate tracking performance near the satellite direction as well as be applied in relatively large regions.