In this paper, a method for the assessment of the Unified Parkinson Disease Rating scale (UPDRS) related to tremor is presented. The method described consists of hand resting and posture state detection, tremor detection and tremor quantification based on accelerometer and gyroscope readings from a wrist worn sensor. The initial results on PD patient recordings on home environment indicate the feasibility of the proposed method in monitoring UPDRS tremor in patient home environment.