We recorded simultaneous Arm and Leg cycling movements, performed on an arm and leg cycle ergometer by untrained able-bodied participants. The relation between the average cycling frequency (cadence) of the arms and the legs were investigated. We found that the participants were able to keep the average frequency, close to a predetermined frequency (60 Hz) by the arms and also by the legs, but deviation from the target frequency was not the same for the arms and the legs. Our results suggest that even when the average frequencies are different, the cycle times are controlled by the nervous system in such a way that differences are compensated during consecutive cycles. This is reflected in the relation of elbow and knee angle time profiles and in the elbow flexor and knee extensor muscles’ activities. The presented results should be considered in rehabilitation protocols based on Arm and Leg cycling training.