Abstract: The task constraints imposed upon a co-actor can often influence our own actions. Likewise, the observation of somebody else’s movements can involuntarily contaminate the execution of our own movements. These joint action outcomes have rarely been considered in unison. The aim of the present study was to simultaneously examine the underlying processes contributing to joint action. We had pairs of participants work together to execute sequential aiming movements between two targets—the first person’s movement was contingent upon the anticipation of the second person’s movement (leader), while the second person’s movement was contingent upon the direct observation of the first person’s movement (follower). Participants executed separate blocks of two-target aiming movements under different contexts; that is, solely on their own using one (2T1L) and two (2T2L) of their upper limbs, or with another person (2T2P). The first movement segment generally indicated a more abrupt approach (shorter time after peak velocity, greater displacement and magnitude of peak velocity), which surprisingly coincided with lower spatial variability, for the 2T2P context. Meanwhile, the second segment indicated a similar kinematic profile as the first segment for the 2T2P context. The first movement of the leader appeared to accommodate the follower for their movement, while the second movement of the follower was primed by the observation of the leader’s movement. These findings collectively advocate two distinct levels of joint action including the anticipation (top–down) and mapping (bottom–up) of other people’s actions.