This paper investigates tracking of direct-sequence spread-spectrum (DS/SS) signals based on an adaptive filtering technique. It is shown that a previously proposed hardware for code acquisition is also capable of code-tracking, and, hence, by performing both acquisition and tracking with the same circuitry, a significant simplification in the overall DS/SS receiver structure is gained. Analytical results show that the proposed scheme has a good tracking performance, as measured by the hold-in time and the false alarm penalty time, and is less sensitive to variations in the signal-to-noise ratio (SNR) compared to conventional delay-locked loops (DLLs). Moreover, simulation results show that the proposed adaptive filter tracking scheme has a smaller residual tracking error than that produced by a conventional maximum-likelihood estimator (MLE).