Taking sport climbing as a testbed, we explored coarticulation in naturalistic motor-behavior at the level of whole body kinematics. Participants were instructed to execute a series of climbing routes, each composed of two initial foot-moves equal in all routes, and two subsequent hand-moves differing across routes in a set of eight possible configurations. The goal was assessing whether climbers modulate the execution of a given move depending on which moves come next in the plan. Coarticulation was assessed by training a set of classifiers and estimating how well the whole body (or single-joint) kinematics during a given stage of the climbing execution could predict its future unfolding. Results showed that most participants engage in coarticulation, with temporal and bodily patterns that depend on expertise. Nonclimbers tend to prepare the next-to-come move right before its onset and only after the end of the previous move. Rather, expert-climbers (and to a smaller extent, beginner-climbers) show early coarticulation during the execution of the previous move and engage in adjustments that involve the coordination of a larger number of joints across the body. These results demonstrate coarticulation effects in whole body naturalistic motor behavior and as a function of expertise. Furthermore, the enhanced coarticulation found in expert-climbers provides hints for experts engaging in more refined mental processes converting abstract instructions (e.g., move the right hand to a given location) into motor simulations involving whole body coordination. Overall, these results contribute to advancing our current knowledge of the rich interplay between cognition and motor control.