Since 3D data has additional depth information than 2D image, it can be used various researches and applications such as robot vision, car navigation and human computer interaction. Especially, 3D face recognition is robust against facial pose and light variation since it can use 3D face shape information such as facial profile, curvature and depth map. However, it is difficult to acquire 3D face data in real-time since conventional 3D data acquisition systems like laser scanner or structured light system are very slow for the data capturing. Recently, Time-of-Flight (ToF) camera provides full range distance data at high framerates and thus comes into the spotlight as an alternative to conventional 3D acquisition systems. ToF camera provides both distance images and gray-scale images simultaneously in realtime. However, it has drawbacks which are low resolution and gray-scale image, not color image. In this paper, a registration method of color and ToF cameras is presented to find precise corresponding color pixel information with range distance data from ToF camera.