A new non-disruptive error field (EF) assessment technique not restricted to low density and thus low beta was demonstrated at the EXTRAP-T2R reversed field pinch. Stable and marginally stable external kink modes of toroidal mode number n = 10 and n = 8, respectively, were generated, and their rotation sustained, by means of rotating magnetic perturbations of the same n. Due to finite EFs, and in spite of the applied perturbations rotating uniformly and having constant amplitude, the kink modes were observed to rotate non-uniformly and be modulated in amplitude. This behaviour was used to precisely infer the amplitude and approximately estimate the toroidal phase of the EF. A subsequent scan permitted to optimize the toroidal phase. The technique was tested against deliberately applied as well as intrinsic EFs of n = 8 and 10. Corrections equal and opposite to the estimated error fields were applied. The efficacy of the error compensation was indicated by the increased discharge duration and more uniform mode rotation in response to a uniformly rotating perturbation. The results are in good agreement with theory, and the extension to lower n, to tearing modes and to tokamaks, including ITER, is discussed.