An implantable medical device system including an atrial pacemaker and a ventricular pacemaker is configured to deliver dual chamber pacing in the presence of atrioventricular block. In response to detecting the AV block, the atrial pacemaker may establish a limited number of selectable pacing rates. The atrial pacemaker selects a rate from the limited number of selectable pacing rates and adjusts the atrial pacing rate to the selected rate. The ventricular pacemaker is configured to establish a ventricular pacing rate that is equivalent to the selected rate in response to detecting the AV block. Other examples are described herein.
