The regaining of walking ability is one of the main goals of rehabilitation following stroke. An important aspect of bipedal locomotion is efficient balancing of the trunk. In this article a novel methodology for dynamic balance training during standing and stepping is presented in a commercially available mechanical balance training device. A case study that lasted for two-weeks with two half-hour training sessions per day, involving a single subject with chronic hemiparesis, investigated the effects of the proposed dynamic balance training. Instrumented kinesiological evaluation of the subject's gait indicated important improvement in the subject's postural control during walking. Finally, the possibility of combining therapeutic functional electrical stimulation of selected lower extremity muscles with the methodology for dynamic balance training presented here is discussed.