Estimating the position of the whole-body centre of mass (CoM) based on skin markers and anthropometric tables requires tracking the pelvis and lower body, which is impossible for wheelchair users due to occlusion. In this work, we present a method to track the user’s whole-body CoM using visible markers affixed to the user and wheelchair where the user remains seated in their wheelchair, by expressing the pelvis and lower body segments in wheelchair coordinates. The accuracy of this method was evaluated on the anterior-posterior (AP) and medial–lateral (ML) axes by comparing the projected CoM to the centre of pressure measured by four force plates, for 11 able-bodied participants adopting 9 static postures that include extreme reaching postures. The estimation accuracy was within 33 mm (AP) and 9 mm (ML), with a precision within 23 mm (AP) and 12 mm (ML). Tracking the whole-body CoM during wheelchair propulsion will allow researchers to better understand the dynamics of propulsion, which may help devise new approaches to increase the energy transfer from the arms to the ground and reduce the risks of developing musculoskeletal disorders.