Skilled human movement is apparently easily produced and highly coordinated despite the high number of degrees of freedom controlled during its execution. Here, we examine the learning of a whole body movement over practice from three levels of analysis: 1) elemental, 2) subsystem, and 3) macroscopic order parameter, with respect to the role of constraints in motor skill acquisition. With practice, the body segments were re-organized to achieve the 3 sub-tasks, namely: 1) a medio-lateral forcing torque, 2) a vertical downward force and 3) an anterior-posterior equilibrating torque. The output complexities of the two subsystems, the forcing (medio-lateral) and equilibrating (anterior-posterior) motions of the center of mass changed in a compensatory manner, increasing or maintaining the stability of the overt behavior. This pattern of findings supports the ideas of dynamical approaches to motor learning and holds interesting parallels to tenets of the Theory of Constraints (Goldratt, 1990) for system (re)organization.