This paper focuses on two quadrotors with leader-follower formation to conduct a formation tracking. This paper proposes simplified control for this formation tracking. Each quadrotor has two controllers; position and orientation controller. There are only four control parameters that need to be tuned properly. Most of the formation controls are based on the position reference. In general, the follower uses the leader position as its position reference. In this paper, a distributed formation control based on velocity reference is developed. The state of each quadrotor is distributed and the follower uses the velocity command of leader to obtain the velocity signal. The algorithms are validated through simulations and real-time implementations. The results show that the controllers realize the formation tracking.