Method for tracking a first end of a utensil handled by a user, a magnetic object being securely fastened to the utensil and remote from the first end along a longitudinal axis △ of the utensil by a first non-zero distance (D 1), the magnetic object having a magnetic moment m collinear to the longitudinal axis △, the method comprising the following steps: ∘ handling the utensil by a user, the first end being alternately in contact and not in contact with a reference surface, ∘ measuring a magnetic field emitted by the magnetic object at different successive measurement instants, by means of a network of magnetometers (M i) securely fastened to the reference surface; ∘ determining a state vector X A (t n) representative of the position P A (t n) and the magnetic moment m (t n) of the magnetic object, on the basis of the measurements of the magnetic field; ∘ determining the position P p (t n) of the first end of the utensil on the basis of the state vector X A (t n) and of a previously recorded value (D 1(k)) of the first distance (D 1) between the first end and the magnetic object; ∘ determining a parameter κ(t n) representative of a contact between the first end and the reference surface belonging to a touch sensor; characterized in that, the first distance (D 1) is modified, during the handling of the utensil while the first end is not in contact with the reference surface, by translation of the magnetic object along the longitudinal axis △ such that it has a value, referred to as the actual value, (D 1(k+1)) that is different from the recorded value (D 1(k)), the method comprises the following steps: ∘ when the contact is detected by the touch sensor: • determining a value (D 1I(k+1)) of a first distance, referred to as the projected distance (D 1I), which is equal to a distance between the position P A (t n) of the magnetic object and a position P I (t n) of a point of intersection I between the reference surface and a straight line collinear with the magnetic moment m (t n); then • determining the actual value (D 1(K+1)) of the first distance (D 1) on the basis of the determined value (D 1I(K+1)) of the first projected distance (D 1i); • updating the recorded value of the first distance (D 1) by replacing the previous recorded value (D 1(k)) with the determined actual value (D 1(k+1)) of the first distance (D 1). ∘ handling the utensil by a user, the first end being alternately in contact and not in contact with a reference surface, ∘ measuring a magnetic field emitted by the magnetic object at different successive measurement instants, by means of a network of magnetometers (M i) securely fastened to the reference surface; ∘ determining a state vector X A (t n) representative of the position P A (t n) and the magnetic moment m (t n) of the magnetic object, on the basis of the measurements of the magnetic field; ∘ determining the position P p (t n) of the first end of the utensil on the basis of the state vector X A (t n) and of a previously recorded value (D 1(k)) of the first distance (D 1) between the first end and the magnetic object; ∘ determining a parameter κ(t n) representative of a contact between the first end and the reference surface belonging to a touch sensor; ∘ when the contact is • determining a value (D 1I(k+1)) of a first distance, referred to as the projected distance (D 1I), which is equal to a distance between the position P A (t n) of the magnetic object and a position P I (t n) of a point of intersection I between the reference surface and a straight line collinear with the magnetic moment m (t n); then • determining the actual value (D 1(K+1)) of the first distance (D 1) on the basis of the determined value (D 1I(K+1)) of the first projected distance (D 1i); • updating the recorded value of the first distance (D 1) by replacing the previous recorded value (D 1(k)) with the determined actual value (D 1(k+1)) of the first distance (D 1).