The wireless power transfer (WPT) system has attracted attention for energy transmission without physical contact. However, a WPT system has low coupling condition because of a big air gap between transmitter and receiver coils. The low coupling condition has a high leakage inductance. To overcome this problem, we design a proposed system for WPT using series-series (S-S) topology of one resonant circuit. To obtain the higher efficiency power conversion of the WPT system, it has to operate the resonant frequency in the zero phase angle (ZPA) point even under mutual coefficient and load variation. Therefore, we propose the resonant frequency tracking algorithm to operate ZPA point based on the second order generalized integrator-frequency locked loop (SOGI-FLL) method. This proposed frequency-tracking algorithm can estimate ZPA point by changing switching frequency. We can reduce the switching loss with this proposed algorithm and improve the low conversion efficiency of the WPT system. The performance of the proposed frequency-tracking algorithm is automatically verified through various coupling coefficients and the load variation.