Daytime lidar operation in the middle atmosphere requires a narrow field of view (FOV) of the receiving telescope for effective background reduction and a high-transmission narrow-band detection. The laser beam position in the atmosphere relative to the optical axis of the receiving telescope is subject to high-frequency disturbances such as turbulence, vibration, and wind as well as comparable slow drift (thermal effects of the laser, stability of the building, etc.). We developed a beam stabilization system (BSS) that ensured a pulse-to-pulse stabilization of the laser beam with ~ 3 μrad remaining jitter, allowing ~ 60 μrad FOV. With BSS and single-pulse data acquisition system, the optimal alignment of the laser and telescope can be controlled, and information on the FOV and laser divergence in the far field can be derived. The capability of the BSS is to stabilize the laser against all internal and external disturbances below the repetition rate of the laser.