This chapter discusses the anatomic basis related to control of head and trunk posture, and symptom and syndromes caused by its impairment. The spinal cord contains machinery for stepping, the locomotor generator. However, the spinal cord is under the control of supraspinal centers. In human walking, intention or attention takes part to various degrees, from fully attended walking to nearly automatic walking. Multiple structures of the central nervous system are known to be involved in the central control of walking. In addition to the sensorimotor areas directly related to leg movement such as the pre-SMA, SMA proper, anterior cingulate gyrus, lateral premotor areas, and the foot areas of the primary sensorimotor cortices, the cortical areas related to visual information processing, such as the occipital cortex and the posterior parietal area, are also important. Furthermore, the brainstem gait center, cerebellum, and basal ganglia also play an important part.