We present a solution to the problem of tracking relativerotation in a leader-follower spacecraft formation using feedback from relative attitude only. The controller incorporates an approximate-differentiation filter to account for the unmeasured angularvelocity. We show uniform practical asymptotic stability (UPAS) of the closed-loop system. For simplicity, we assume that the leader is controlled and that we know orbital perturbations; however, this assumption can be easily relaxed to boundedness without degrading the stability property. We also assume that angularvelocities of spacecraftrelative to an inertial frame are bounded. Simulation results of a leader-follower spacecraft formation using the proposed controller structure are also presented