An optical disc drive and tracking method thereof are disclosed. The optical disc drive includes an optical pickup head, a slip compensation module, a tracking control module and a tracking drive. The optical pickup head generates a detected signal according to an optical signal from an optical disc. The slip compensation module generates a slip compensation signal according to the detected signal. The tracking control module generates a tracking out signal according to the detected signal and the slip compensation signal and, according to the tracking out signal, the tracking drive drives the optical pickup head.