Successful coordination involves the movement of various segments of the body that have to be controlled in a systematic and meaningful way. In this talk I will present recent work from my laboratory on sensorimotor coordination in the context of music and rhythm. In the first section of the talk, I will talk about the musical concept of groove and the entrainment response of the human motor apparatus to music that has elements of groove. I will discuss how human postural responses can be coupled with music serving as the basis of human rhythmic activity such as dance. In the second part of the talk, I will focus on the privileged relationship between the auditory and motor system. Using beat perception as an example, I will present neurophysiological results that support the auditory simulation for action planning (ASAP) hypothesis, which suggests the strong role of the motor system even during passive listening to rhythmic stimulation.