Accurate knowledge of dispersion relations is of vital importance for Lamb wave-based damage detection. In this paper, an experimental technique is proposed to obtain the Lamb waves phase velocity dispersion without prior knowledge of material properties. It requires measurements at only two neighboring positions, and can evaluate phase velocity dispersion over a wide frequency range. In that technique, the short-time chirp-Fourier transform is first applied to the Lamb wave signals to achieve a concentrated time-frequency representation. On this basis, ridge tracking is completed and the group delay (GD) of the interested modes is estimated accurately. Subsequently, the Vold-Kalman filter is introduced to extract these wave modes, and the instantaneous phase is estimated from each individual wave mode via Hilbert transform. Lastly, the phase velocity is obtained as a function of the propagation distance, GD and phase shift. The proposed technique is investigated in two different mediums: simulated signals as Lamb wave propagating in an aluminum plate and experimental signals as that in a carbon fiber-reinforced polymer laminate. The results demonstrate its effectiveness and efficiency.