An experiment was designed to test whether or not Parkinson's disease (PD) patients were able to maintain endpoint kinematic patterns in a prehension task involving movement of the torso. Nine PD patients and nine healthy controls were asked to reach for and grasp a full cup of water that was either covered or uncovered and placed beyond the reach of the outstretched arm. An OPTOTRAK (Northern Digital) 3-dimensional motion analysis system was used to capture the movement of four markers placed on the arm, hand, and torso. The results indicated the Parkinson's patients had a decreased ability to maintain the kinematics of the end effector. The PD patients were also found to be impaired in terms of their ability to synchronize the arm, hand, and torso. More specifically, although the elderly controls seemed to employ a strategy of increasing the involvement of the torso when reaching to grasp the uncovered cup, no such strategy was observed in the PD patients. Collectively, the results suggest that the multi-joint synergies observed in the elderly controls, which help preserve relatively consistent endpoint trajectories, are disrupted in Parkinson's patients.