In conventional adaptive array processing, the array processing performance will be degraded seriously because of the steering error, which must be calibrated. Based on the analysis of the effect of steering errors on adaptive beam-forming performance, a new method of calibrating the errors is presented, in which the array data and the uncertainty of the steering errors are utilized for iteratively computing the factor used in modifying the array steering vector. Adaptive beam-forming is performed with the calibrated steering vector. The theoretical analysis and simulation results show that the new method is better in robustness to the steering errors.