A method for aligning a movable first pipe coaxially with a substantially stationary second pipe to prepare a threaded pin end portion of the first pipe for engagement with a threaded box end portion of the second pipe , the method comprises the steps of: a) determining, by means of triangulation, a position of a centre line (CL9) of the second pipe ; b) prior to bringing the threaded end portion of the first pipe in contact with the threaded end portion of the second pipe , determining, by means of triangulation, a position of a central end portion of the first pipe being closest to the second pipe ; c) calculating direction and amount of any horizontal deviation (dH) between the centre line (CL9) of the second pipe and the central end portion of the first pipe facing the second pipe ; d) outputting a first guiding signal (ML2) indicative of direction and amount of the horizontal deviation calculated in step c), e) moving the first pipe according to the first guiding signal (ML2); and then f) moving the threaded pin end portion of the first pipe to abut against the threaded box end portion of the second pipe ; characterised in that thereafter the method further comprises g) determining a first pipe direction vector (CL3) and a second pipe direction vector (CL9); h) calculating direction and amount of any inclination (dC) of the first pipe direction vector with respect to the second pipe direction vector; i) outputting a second guiding signal (ML1) indicative of direction and amount of inclination (dC) calculated in step h); j) adjusting the inclination of the first pipe according to the second guiding signal (ML1); and k) rotating the first pipe so that the threads of the first pipe engage with the threads of the second pipe . a) determining, by means of triangulation, a position of a centre line (CL9) of the second pipe ; b) prior to bringing the threaded end portion of the first pipe in contact with the threaded end portion of the second pipe , determining, by means of triangulation, a position of a central end portion of the first pipe being closest to the second pipe ; c) calculating direction and amount of any horizontal deviation (dH) between the centre line (CL9) of the second pipe and the central end portion of the first pipe facing the second pipe ; d) outputting a first guiding signal (ML2) indicative of direction and amount of the horizontal deviation calculated in step c), e) moving the first pipe according to the first guiding signal (ML2); and then f) moving the threaded pin end portion of the first pipe to abut against the threaded box end portion of the second pipe ; g) determining a first pipe direction vector (CL3) and a second pipe direction vector (CL9); h) calculating direction and amount of any inclination (dC) of the first pipe direction vector with respect to the second pipe direction vector; i) outputting a second guiding signal (ML1) indicative of direction and amount of inclination (dC) calculated in step h); j) adjusting the inclination of the first pipe according to the second guiding signal (ML1); and k) rotating the first pipe so that the threads of the first pipe engage with the threads of the second pipe . <EOS>