The pulse timing of a mode-locked Er-doped fiber laser was stabilized to a reference pulse train from a Cr:forsterite mode-locked laser by all-optical passive synchronization scheme. The reference pulses were injected into a ring cavity of the fiber laser by using a 1.3-1.5 mum wavelength-division multiplexer. The spectral shift induced by cross-phase modulation between copropagating two-color pulses realizes self-synchronization due to intracavity group-delay dispersion. The rms integration of timing jitter between the fiber laser pulse and the reference pulse was 3.7 fs in a Fourier frequency range from 1 Hz to 100 kHz.