This paper describes a novel method to estimate pulse arrival time (PAT) from the electrocardiogram (ECG) and the impedance plethysmogram (TPG) obtained by using a compact and easy-to-use handheld device with only four electrodes. A proof-of-concept has been carried out where PAT values obtained with the proposed device have been compared to PAT values measured between the ECG and the photoplethysmogram (PPG) during three experiments of paced respiration to induce controlled PAT changes. The results show that both methods yield equivalent PAT values in within ± 7 ms (95 % confidence interval), which is less than typical deviations reported for common PAT measurements.