BACKGROUND: Magnetic resonance fingerprinting (MRF) could provide joint T1, T2, and proton density mapping. Measuring diffusion encoding using the MRF framework is promising, given its capacity to generate self-aligned quantitative maps and contrast-weighted images from a single scan. It could avoid potential errors that arise from the registration of multiple MRI images and reduce the total scan time. However, the application of a strong diffusion gradient on the MRF sequence results in phase inconsistency between acquisitions, which could corrupt the reconstructed images. PURPOSE: To propose a distortion-free diffusion-weighted imaging module for MRF (DWI-MRF) method using a self-navigated subspace reconstruction on k-space data obtained from a dual-density spiral trajectory. METHODS: The proposed sequence consisted of two segments: inversion prepared steady-state free precession MRF for the first 800 time points and diffusion-weighted imaging (DWI) with two nominal b-values of 0 and 800 s/mm RESULTS: Our method's T1, T2, and ADC values agreed reasonably with the reference values, with a slope of 0.88, 0.94, and 1.04 for T1, T2, and ADC, and an R CONCLUSIONS: The proposed method was free of artifacts from cardiac pulsation and generated pixel-wise correspondent T1, T2, and ADC maps on both phantom and in vivo images.