This study examined age-related differences in the coordinative mechanism of the reach-to-grasp movement in three groups of children aged 6, 8, and 11 year, and in healthy adults. Three prehension conditions were manipulated: an unimanual and a bimanual self-driven tasks in which the reaching and grasping of the object were performed by participants, and a bimanual externally-driven task, in which the experimenter brought the object into the vicinity of the participant which grasped it. Classical kinematics data-peak velocities of the reaching and the grasping, the time to onset grip opening, maximum grip opening and grip closure-were calculated. Moreover, to obtain equivalent kinematics variables for all age groups, relative time to peak velocity (% of reaching duration), relative maximum grip opening (% of object size), and percentage of the four types of phase plans between reaching velocity and grip size have been calculated for each group of age. Our main results showed (1) a high variability at age 6, (2) an age-related change between the 6- and 8-year old for almost all of the dependent variables, and (3) a significant difference between the 11-year olds and adults. In summary, at 6 years, the interdependence between the reaching and grasping programs was unstable. A transitory feedback-based coordination between reaching and grasping appeared at 8 years of age. Finally, the adults' relationship between reaching and grasping was not attained at the age of 11.