A system and method for MR imaging includes the use of a form of autocalibrated parallel imaging. By combining a segmented, rotated acquisition trajectory with autocalibration parallel imaging (API), the system and method can achieve improved motion insensitivity while maintaining the benefits of accelerated acquisition due to parallel imaging. In various embodiments, calibration values from a set of reference data or from another set of imaging data can be used in determining reconstruction weights for a given k-space data set. Thus, separate calibration data need not necessarily be acquired for each set of imaging data.