Abstract: In a method of printing an image on a surface, a printing system is employed which comprises a static base unit and a printing device which is moved in passes over the surface, the position of the printing device being monitored and being controlled so that printing occurs only at locations on the surface where printing has not yet been completed. The base unit and printing device have respective antennae which enable the position of the printing device on the surface to be always known. The base unit and printing device are interconnected by a flexible tube incorporating data, power and ink connections. The flexible tube may also convey pressurized air to produce an air cushion which maintains the printing device at a constant spacing from the surface to the printhead. Printing may occur in two phases, firstly with a relatively large printing device and then with a relatively small printing device to fill in the gaps in coverage of the surface.