  Ions displaced from the potential minimum in a RF Paul trap exhibit excess
micromotion. A host of well-established techniques are routinely used to sense
(and null) this excess motion in applications ranging from quantum computing to
atomic clocks. The rich atomic structure of the heavy ion Yb$^{+}$ includes
low-lying $^{2}\text{D}_{3/2}$ states that must be repumped to permit Doppler
cooling, typically using a 935 nm laser coupled to the
$^{3}\text{D}[3/2]_{1/2}$ states. In this manuscript we demonstrate the use of
this transition to make resolved-sideband measurements of 3D micromotion in
$^{172}$Yb$^{+}$ and $^{171}$Yb$^{+}$ ions. Relative to other sensing
techniques our approach has very low technical overhead and is distinctively
compatible with surface-electrode ion traps.
