Facial feature tracking is crucial in computer vision applications. In this paper, we propose a system capable of locating a human face using skin color filtering and then detecting and tracking six facial features, i.e. pupils, nostrils and lip corners, in a real time video. A 3D facial feature model is employed to estimate the 3D pose of a person's head, which improves the robustness of the tracking system. This system has the advantage of automatically detecting the facial features and recovering the features lost during the tracking process. Encouraging results have been obtained using the proposed system.