This paper is a conceptual, empirical, and philosophical exploration of the ways we experience the motion of things. The paper aims to understand better how humans understand the motion of semi-autonomous things. The paper focuses on two perspectives of understanding (robot) motion: 1) through familiarity and a phenomenological approach; and 2) through legibility as a qualitative attribute of motion. Finally, seeing motion through the lenses of these two concepts adds to the development of an understanding of communication or interaction between humans and moving things, and the human relationship to motion.