  We demonstrate that in a coupled two-qubit system any single-qubit gate can
be decomposed into two conditional two-qubit gates and that any conditional
two-qubit gate can be implemented by a manipulation analogous to that used for
a controlled two-qubit gate. Based on this we present a unified approach to
implement universal single-qubit and two-qubit gates in a coupled two-qubit
system with fixed always-on coupling. This approach requires neither
supplementary circuit or additional physical qubits to control the coupling nor
extra hardware to adjust the energy level structure. The feasibility of this
approach is demonstrated by numerical simulation of single-qubit gates and
creation of two-qubit Bell states in rf-driven inductively coupled two SQUID
flux qubits with realistic device parameters and constant always-on coupling.
