In recent years, development of humanoids, which are robots that assume an anthropomorphic form is a challenge that gaining interest in robotics. Kinematics is important in performing the simulation of a humanoid arm in order to perform desired task. In this work, the kinematic solution for humanoid arm is described. The kinematics of the humanoid arm is computed using the Denavit Hartenburg (DH) notations. The work is essential in order to determine the joint variables in terms of the end-effectors position and orientation.