Abstract: Methods and apparatus for positioning milking cups on respective teats of a milk-yielding animal by; generating a 3D direct recording of at least one of the milking cups and at least one of the teats of the milk-yielding animal, determining a relative distance between the milking cup and the teat from the 3D direct recording using an image processing device, using a control device to process data about the relative distance determination and then calculate a drive movement for one or more actuators for moving the milking cup(s) and reducing the relative distance between a milking cup and a respective teat, carrying out the drive movement provided that an error does not occur, and making at least one 3D direct recording for being evaluated.