Abstract: The misalignment of the coils is inevitable in inductive power transfer (IPT) system, leading to a decrease in the stability of the system output voltage. Due to the square-wave voltages generated by the full-bridge inverters, the harmonic wave is hard to eliminate. In order to utilize the harmonic wave to enhance the anti-misalignment capacity of the system, this paper proposes a hybrid dual-frequency IPT system based on fundamental and harmonic parallel transmission. The bipolar structure coil is selected to eliminate the cross-coupling between the secondary coils. Combined with the proposed parameter design method, the IPT system can adaptively obtain the constant output voltage with the misalignment. Compared to the traditional fundament- harmonic parallel IPT systems with the dual-transmitter dual-receiver structure, a single-transmitter dual-receiver structure is used to decrease the wire and costs, and complex feedback control is not required. Finally, a 200W prototype is built to verify the validity of the proposed approach. With the 33% x-misalignment and the 24~40Ω load variation, the output voltage fluctuation of the IPT system is lower than 5%.