Herein, the pulse synchronization between Nd∶YVO4 picosecond and Er-doped fiber mode-locked oscillators was examined, which is the basis for both optical parametric amplification and generation of mid-infrared. In the experiment, the repetition rates of 1555-nm Er-doped fiber mode-locked oscillator and 1064-nm Nd∶YVO4 picosecond oscillator were detected by a photodiode. The timing delay between the two lasers was detected using a frequency mixing and low-pass filter circuit. The repetition rates of two lasers were synchronized by controlling the piezoelectric transducer and stepper motor in the Er-doped fiber mode-locked oscillator. The proposed configuration exhibits advantages of simple structure, high integration and reliability.