Synchronizing two motors on the same axis

Here is my question for the day, what would be the best way to sync up two
motors on the same axis. It can be considered that full cycle for each part
of the axis equates to 1 revolution of each motor. The application would be
for a long reach sewing machine for quilting. I am thinking of driving the
needle mechanism with one motor and the bobbin mechanism from another motor.
If that is the route I take, these two drives must remain in perfect sync
with each other. I am assuming that either steppers with encoders or servos
can be used to accomplish this task, I am just not sure how to sync them up.
Can they both be driven from a single axis (Z) or do I need to use two axis
(Z, A) and slave one to the other? What software would be best to
accomplish this task?

Thanks

John Guenther
'Ye Olde Pen Maker'
Sterling, Virginia