In this study, a methodology is developed for kinematic tracking and profiling of free-moving wrist carpal bones. The derived kinematic profiles consist of joint metrics computed and tracked during free wrist motion. Such metrics are hypothesized to be potentially valuable for diagnosis and management of joint dysfunction. Here, an advanced 4D MRI protocol is deployed to capture frames of unconstrained moving joints which are registered to a high-resolution fixed volume using a novel slab-to-volume boundary registration method. Using this registration approach on a sample subject-dataset, concept demonstrations of a selection of metrics describing scaphoid-lunate kinematic motion are presented.