Altenbach is located 7 km east of the main town of Schriesheim in the Odenwald, right at the headwaters of the Kanzelbach stream, which there is called the Altenbach, the same name as the town (Alten Bach means "old stream"). Similarly, Ursenbach, which is located 3 km northwest of Altenbach and is also in the Odenwald, is named after a stream of the same name which flows into the Altenbach before the latter turns into the Kanzelbach and flows through Schriesheim.