The motion of lower extremity joints is one of the mechanisms by which mechanical load is attenuated. The main purposes of this study were to characterize the motion of the right lower limb in a group of 18 women experienced in step exercise, when performing selected step patterns, and to investigate the differences that exist between four stepping rate conditions (125, 130, 135, and 140 beats per minute) and between four step patterns (basic step, knee lift, run step, and knee hop). The parameters explored were the range-of-movement and angular velocity of hip, knee, and ankle joints at initial contact and peak values. The four movement patterns analyzed presented different kinematical profiles, but no profiles were influenced by stepping rate. Stepping rate and step pattern had more effect on range of motion of ankle and knee joints, and on the angular velocity of knee and hip joints. To prevent injury, proper instruction should be provided in relation to foot placement on the step bench and on the ground.