Underwater robotic systems can be used for a variety of operations, from reparations of sub-sea installations, to perform inspections and surveys. Such operations will demand robust and fast kinematic control, if they were to be executed automatically. Development of an inverse kinematic solver for a vehicle-manipulator system is very intricate, and it is therefore implemented on the small, humanoid robot Nao. This enables frequent testing and refinement of the solution algorithm, to create a good foundation for further development on underwater platforms.