For the consensus problem for multi-agent systems with an active leader, in order to tracking the leader, the adaptive tracking control law which only depends on the relative position measurement information is designed for each follower. According to the relative position measurement information for each of the follower, a dynamic output feedback control law is designed, and the dynamic output feedback control law is used to estimate the relative velocity information. On this basis, the adaptive tracking control law is proposed for each follower, and based on the theory of Lyapunov stability and matrix theory, the sufficient conditions which guarantee the system to reach a leader-follower tracking are obtained. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.