When driving, my sat nav (tom tom one), shows my speed as slightly slower than my speedometer. Interestingly i have a new car, and in the new car, the difference between them is slightly less than in my new car.
I did ask the dealership about this, and they told me that the new the cars, the more accurate the speedo is. This is one reason why the police allow speed limt +approx 10%; the speedo's werent consistent at showing speed.
As support for this, there are several of those roadside speed indicators on my route too and from work that tell you how fast you are going and give a smiley or frowny face accordingly. The speeds that show on these signs s pretty much in line with my Sat nav, but is slower than my speedo. I.e Car says 31MPH, Sat nav and sign says 28MPH.