In order to achieve fast and accurate hand-eye calibration of a monocular vision system, we propose a new two-step hand-eye calibration method, which divides hand-eye calibration into the two steps of solving rotation and translation relationships. First, a robot carrying a calibration plate performs twice translation motions to solve the rotation relationship. Then, the tool frame on the robot carries out several times of rotation motions to solve the translation relationship. The proposed method is simple and fast and does not require expensive external equipment. Finally, the feasibility of this method is experimentally verified.