The invention provides a method for the alignment of a multiaxial manipulator with an input device which is used for controlling the manipulator. The method includes the following steps: execution of one or more reference movments with the input device, execution of one or more reference movements with the manipulator, recording of the executed reference movements, calculation of a transformation matrix based on the recorded reference movements, and use of the calculated transformation matrix for the alignment of the movments of the input device with the manipulator.