Background: During normal aging, a reduction in walking speed and changes in stability are observed. Aim: To characterize and compare gait kinematic parameters of young (YA) and older adults (OA) at a controlled speed. Material and Methods: Gait angular kinematic parameters were analyzed in OA aged over 60 years and YA aged between 20 and 30 years. For data capture, six VICON Bonita cameras were used. Recording were made at a gait speed of 1.2 m/s. Kinematic data were normalized to 100% of the gait cycle using the Polygon 4.1 software. Time windows representing the phases of gait were created for analysis. Results: At the hip-pelvis level, OA reduce their pelvic obliquity motion and increase hip abduction. At the knee level OA reduce movements in the frontal plane during the plantar support and half swing phases. At the ankle level OA reduce their maximum ranges of plantar flexion, during the toe-off and final swing phases. Conclusions: At a controlled speed, kinematic changes observed in OA allow an increase in body support base to maintain gait stability.