Many studies have demonstrated that the seated position is more effective in promoting reaching movements when compared with supine. The aim of this longitudinal study was to verify the effect of seated and supine positions on spatio-temporal parameters of reaching in 4-6-month-old infants. Four infants were observed during reaching trials in both positions. A total of 235 reaches were analyzed by using the 3D movement reconstruction. Our results showed that frequency of reaching and straightness index increased over age. Significant differences between the positions were observed at 4 months, when the frequency increased and the duration and deceleration time decreased in the seated position. There were no significant differences at 5 and 6 months. These findings suggest that young infants are able to change kinematical parameters of reaching to adapt themselves to intrinsic and extrinsic constraints (i.e. age and position).