A method to combine information of respiratory states with a non-rigid motion model is proposed to reconstruct motion-compensated 4D images of dynamic-contrast enhanced MRI with high temporal resolution. Abdominal DCE-GRASP MRI was reconstructed by grouping 4 consecutive spokes as one dynamic frame (0.6sec/frame). Respiratory motion was obtained from central k-space data (as in XD-GRASP). A temporal TV constraint was applied separately for each respiratory state. By using an optical-flow algorithm, four sets of motion vectors were obtained. Motion-compensated GRASP reconstruction was performed by including the motion vectors and showed improved image quality and reduced motion blurring.