The human motor system quickly entrains rhythmic limb movement to the resonant frequency of mechanical systems with which it interacts, suggesting that entrainment to an appropriately designed training device might be a convenient way to teach desired movements. We tested this possibility by asking healthy subjects (N = 30) to learn to move with a desired movement timing using a simple resonating arm training device: a lever attached to a manual wheelchair. The subjects tried to learn to roll the lever-driven wheelchair back and forth in place at a target frequency initially presented using a series of auditory beeps. One-third of the subjects trained without resonance and with no further feedback about rolling frequency; their performance did not improve. Another group trained with continual visual feedback of frequency error but no resonance; they quickly learned to roll the chair at the target frequency, as evidenced at both short-term and long-term (1 day later) retention tests. A third group trained with elastic bands attached to the lever that caused the system to resonate at the target frequency, providing a timing template. While these participants quickly entrained to the target frequency during training, they did not accurately reproduce this frequency when the system was no longer resonant, moving too slowly with the same systematic error at both the short-term and long-term retention tests. They also did not exhibit a timing aftereffect on the initial movements made when they transitioned from a resonant to non-resonant system or vice versa. This suggests they did not realize they were performing the task with a temporal error. Entrainment to mechanical resonance conveys usable information about movement timing, but seems to cause that movement timing to be perceived as slower than it actually is, as if a putative internal clock speeds up, which is a factor to consider in designing machine-assisted motor training.