Objects can be grasped in different ways to ensure a movement plan is aligned with the intended action. The current study assessed grasp posture in joint action object manipulation in children (ages 6-11, n = 68), young adults (n = 21), and older adults (n = 23). Participants performed two actions (pickup and pass; pickup and pass for use) within two movement contexts (using a dowel as if it were the actual object; actual object use), using two objects (glass and hammer) that differed in use-dependent experience. Beginning-state comfort (prioritizing a comfortable initial hand posture for an object recipient) was assessed. Taken together, findings support the notion that the ability to anticipate the intended action, and thus consider an action partner in one's action plan, increases with age. With age and use-dependent experience, it can be argued that there is a shift from stimulus-driven, familiar responses, to considering affordances and task demands. Together, findings add to our understanding of changes in motor planning capabilities across the life span.