To investigate the influence of interpersonal coordination on gait rehabilitation, this preliminary study conducted a comparison between the gait stability of individuals walking and the gait coordination of patient–therapist pairs between an expert and novice therapist in a simulated gait rehabilitation session. To assess individual gait stability and interpersonal gait coordination, recurrence plots and recurrence quantification analyses were performed for time-series data obtained from acceleration sensors. An expert therapist, a novice therapist, and four healthy young students participated in the experiment as simulated patients. The participants were instructed to form pairs and walk a 10 m straight path six times. Therapists were asked to assist and facilitate students’ walking as a gait rehabilitation without any verbal instructions. The findings revealed gait stability of patients was higher when they walked with an expert therapist than when they walked with a novice therapist. Similarly, gait stability of the expert therapist was also higher than that of the novice therapist. Moreover, gait coordination between patient and therapist was also higher in the expert pairs than in the novice pairs. These results suggest that physical therapists have coordination skills to facilitate stable gait patterns of patients. These skills should be non-verbal and embodied in rehabilitation practice.