We developed a free-breathing continuous-acquisition respiratory and cardiac self-gated spiral cine pulse sequence. Data was acquired using a single spiral interleaf rotated by the golden-angle in time. The cardiac self-gating signal was extracted using principal component analysis on a gridded 8x8 central region of k-space for each spiral, and the respiratory motion is derived from rigid registration for each heartbeat. Images were reconstructed with motion compensated SPIRiT using 16 seconds (2000 spirals) or 8 seconds of data. Free-breathing self-gated spiral cine imaging demonstrated high image quality providing whole heart coverage with clinical spatial and temporal resolution in under 3 minutes.