A system includes a class D amplifier and a current steering digital-to-analog converter (DAC) directly connected to the class D amplifier. The system also includes a common mode servo circuit coupled to a node interconnecting the current steering DAC to the class D amplifier. The common servo circuit amplifies a difference between a common mode signal determined from the node and a reference voltage and generates a feedback current to the node based on the amplified difference. A feed-forward common-mode compensation circuit is included to reduce an alternating current (AC) ripple from the class D amplifier. The feed-forward common-mode compensation circuit includes first and second resistors coupled to respective outputs of the class D amplifier. A current mirror is coupled to the first and second resistors and is configured to sink a current from the node to ground that approximates a common mode feedback current of the class D amplifier.