Learning a bimanual rhythmic task is explored from the perspective that motor skill acquisition involves the successive reparameterization of a dynamical control structure in the direction of increasing stability, where the intentional process of reparameterization is itself dynamical. Subjects learned to oscillate pendulums held in the right and left hands such that the right hand frequency was twice that of the left (21 frequency lock). Over 12 learning sessions of 20 trials each, we interpreted the decreasing fluctuations in the frequency locking to be an index of the increasing concavity of the underlying potential, a measure of stability; the time required to achieve the 2 1 pattern was interpreted as indexing the relaxation time of an intentional dynamic. Power spectral analyses of the phase velocity ratio exhibited two strategies for acquiring the interlimb movement pattern (a) adding spectral peaks at integer multiples of the left hand frequency or (b) distributing power across many frequencies in a l/f-like manner. Results are discussed in terms of the promise of a dynamical approach to learning coordinated movements.