Respiratory motion is known to degrade image quality in PET imaging. The necessary acquisition time of several minutes per bed position will inevitably lead to a blurring effect due to organ motion. A lot of research has been done with regards to motion correction of PET data. As full-body PET-MRI became available recently, the anatomical data provided by MRI is a promising source of motion information. Current PET-MRI-based motion correction approaches, however, do not take into account the available information provided by PET data. PET data, though, may add valuable additional information to increase motion estimation robustness and precision. In this work we propose a registration functional that is capable of performing motion detection in gated data of two modalities simultaneously. Evaluation is performed using phantom data. We demonstrate that performing a joint registration of both modalities does improve registration accuracy and PET image quality.