A comprehensive movement analysis of stair climbing can support the evaluation of gait rehabilitation, joint replacement or prostheses development. In addition to this, the analysis of biomechanical and motor control aspects involved in staircase ascent and descent can be useful in in the design of private and public environment where staircase is employed. This research study provides the investigations of biomechanics and motor coordination in human's lower extremity during ascent and descent walking at different inclinations. Five normal subjects were ascended and descended a 3 step staircase at various inclinations. Subject's footsteps were instrumented with force sensors and provided footstep ground reaction force components at Metatarsals and Heel. Kinematics of Hip, Ankle and Knee was analyzed using Human Motion Tracking System and the results were discussed. Joint moments and force were computed using Inverse kinematics. A large impact on aging verses inclinations were observed in Hip, Knee and Ankle joint movements and discussed in the results session. © 2014 Published by Elsevier B.V.