Accidents may happen at home, many of which are fatal and often involved with young children. Although some applications using wireless sensor network technologies have been developed, little attention was given for protecting children from potential harms and risks at home environment. A tracking and monitoring system with minimal cost and time to set up was designed and developed for such purpose. To improve its accuracy, different localization algorithms have been proposed and their performances are compared and analyzed under different scenarios. Although the primary purpose of this study directed to prevent children from injuries or death, the system can be extended for many other applications such as tracking elderly people (e.g. Alzheimer's patients) in a similar environment.