Abnormal perceptual-motor coordination is hypothesized here to be involved in social deficits of autism spectrum disorder (ASD). To test this hypothesis, high functioning children with ASD and typical controls, similar in age as well as verbal and perceptive performance, performed perceptual-motor coordination tasks and several social competence tests. Spontaneous coordination, and intentionally required in-phase and anti-phase were examined. The oscillation kinematics, as well as the accuracy and stability of spontaneous coordination were similar in both groups. In intentional coordination, ASD children produced less accurate, less stable and less complex relative phases than the control group, and in-phase and anti-phase performances that were similar in accuracy, stability, and complexity. An age-dependent relationship between socio-adaptability and coordination skills suggested these skills develop together.