Indoor positioning system is a key component for developing various location based services such as indoor navigation in large complex buildings (e.g., commercial center and hospital). Meanwhile, it is challenging to design a cost effective solution which is able to provide high accuracy. A new method, namely Two-Step Movement (2SM), was proposed in [1] to demonstrate how to build a positioning system which requires only one Reference Point (RP) by exploiting user movement. The method can offer good precision and minimize the number of RPs required so as to reduce system implementation cost. Built on 2SM, here we first improve the positioning performance through multi-sampling technique to combat measurement noise. Secondly, we propose the Generalized Two-Step Movement (G2SM) method for device-to-device (D2D) systems in which both the mobile terminal (MT) and RP can be mobile device. The mobile user's position can be derived analytically and given in simple closed-form expression. Its effectiveness in the presence of noise is shown in simulation results.