In reply to Patzl:
Is this an issue that has developed over time? - Indexing becoming worse over time, or is it due to you changing any parts? Mech, chain, cables, cassette etc? Any accidents?
In the past I have found that if it's an issue over time then it normally means it's time to change some aged parts. Try removing the mech, take it apart , clean it and re-attach. That might work.
Check that the rear axle is straight. If the cassette is doing la cucaracha as the wheel turns then the axle may be bent and impacting on the position of the sprockets in relation to the derailleur.