What strategies are used in learning to control new movements? The present investigation sought to understand this process by analyzing the changes in whole-body kinematics that occurred when subjects attempted to learn an unusual kicking movement. Five novices were taught a capoeira kick that involved both the upper and lower body for balance and co-ordination. Subjects performed two sets of 60 consecutive kicks, 24 h apart. Gradual changes in the body movement and the initial posture were found. Four subjects reduced the dynamic counter-twist associated with kick initiation. These subjects also adopted a more forward initial body lean. This gradual change in initial posture appeared to obviate the early counter-twist and to facilitate both the equilibrium and the goal directed components of the kick.