A self-calibration algorithm for concentric uniform circular arrays (C-UCA) in the presence of mutual coupling is presented. The proposed algorithm can simultaneously estimate the directions of arrival (DOA) of signal sources and coupling coefficients of antenna array with a calibration source. It not only can calibrate the mutual coupling of the inner sub-arrays, but also can compensate for the mutual coupling between sub-arrays. Compared with conventional self-calibration algorithm based on iterative alternating minimization technique, the proposed algorithm transforms joint estimation about DOA and mutual coupling coefficients into cascaded estimation, which means that the parameters can be obtained by one dimensional spectrum peak search. The proposed self-calibration algorithm has high estimation precision and low computational burden. Simulation results show the effectiveness of the presented method.