AF & AF-S lenses

Trying to grab sharp images of a c2 y.o. toddler is difficult as they tend to move around more than a, well, thing that moves around a lot.
Having tried both a D200 & D700 with AFS lenses (17-35 & 24-70), and starting with the AF point on the ever-moving Alex, I find that the AF doesn't seem to keep up and I get soft images.
Ignoring the D700 for the moment (as I have to give it back soon
), what settings should I be using if I want to try to have the camera AF track the young man?
Having tried both a D200 & D700 with AFS lenses (17-35 & 24-70), and starting with the AF point on the ever-moving Alex, I find that the AF doesn't seem to keep up and I get soft images.
Ignoring the D700 for the moment (as I have to give it back soon
