This paper describes a new robust method for calibration of ultrasound probe (2D/3D). Prior to calibration, a position sensor is attached to the probe for tagging each image/volume with its position and orientation in space. The localization process of the acquired image/volume in 3D space critically requires a calibration procedure that determines its accuracy. The calibration procedure is performed to determine the transformation (translations, rotations, scaling) of the scan plan with respect to the position sensor. In the literature, there are many solutions to the US calibration, but no approach has been published so far that brings a closed form solution for this problem. The proposed methodology will provide a closed form solution from two motions of the US probe. Also, we are presenting the calibration setup along with the experiments that have been conducted with synthetic and real sequences. This calibration method is shown to be easy and fast to perform.