Many voluntary movements are clearly cyclical in nature, i.e., the limbs produce the same movements over and over again with a very steady rhythm, e.g., running, cycling or swimming. Many voluntary movements are clearly discrete in nature, i.e., the limbs start from a specific position and stop at a specific position without repetition, e.g., pushing an elevator button or swinging a golf club. Not all movements are so easily classified. In fact, some movements may be characterized as consisting of both cyclical and discrete components. Recent research using repetitive aiming has demonstrated that under certain conditions the best movement solution is one that integrates features of both cyclical and discrete actions. Moreover, extended practice shows that the integration of cyclical and discrete motions is a very flexible process with very specific performance improvements localized to aspects associated with movement planning and corrective actions. As a final point, recent research has shown that the ability of the motor system to switch from a cyclical action to a discrete action (and vice versa) is a very flexible process with many solutions. This research may have broad implications for the design of tasks and practice sessions that would enhance the motor systems ability to adapt current behavior to changing task conditions. Keyword(s): research