The authors studied the adjustment of the 2 distinct known expressions of gait velocity, the velocity of the center of gravity (CG) and the velocity of the center of foot pressure (CP) at the end of the 1st step in 2 experimental situations: natural gait initiation (the control situation, CS) and heel-off gait initiation (the test situation, TS). Gait was initiated by 7 healthy participants, from an erect spontaneous posture in the CS and from a posture with heels raised in the TS, on a force platform at 3 self-selected speed conditions. Biomechanical data from the force platform were collected in both experimental situations, and the authors used a particular gait analysis based on the differential method of Y. Brenière (2003) in order to approach velocity modulation by means of step length and frequency. Results showed that CG and CP velocities were adjusted differently during heel-off gait initiation than during natural gait initiation. CP velocity, as compared with CG velocity, was overestimated in TS. Results also established the relevance of the expression of step velocity by means of step length and frequency: The central nervous system, taking into account the specific postural constraints of each experimental situation, uses a reference value and a regulating parameter to modulate step velocity. Moreover, the contributions of 1st step length and frequency to the expression of step velocity in TS and CS were different. Thus, a specific locomotor behavior corresponds to a given experimental situation that is characterized by its own initial biomechanical constraints.