Skilled behavior requires a balance between previously successful behaviors and new behaviors appropriate to the present context. We describe a dynamic field model for understanding this balance in infant perseverative reaching. The model predictions are tested with regard to the interaction of two aspects of the typical perseverative reaching task: the visual cue indicating the target and the memory demand created by the delay imposed between cueing and reaching. The memory demand was manipulated by imposing either a 0- or a 3-second delay, and the salience of the cue to reach was systematically varied. Infants demonstrated fewer perseverative errors at 0-delay versus 3-second delay based on the cue salience, such that a more salient visual cue was necessary to overcome a longer delay. These results have important implications for understanding both the basic perceptual-motor processes that produce reaching in infants and skilled flexible behavior in general.