Adaptive lifespan development involves individuals' simultaneous coordination of motivational engagement across multiple domains of life. The present study tests this proposition using data from the Midlife in the United States National Longitudinal Study of Health and Well-Being (MIDUS I and II). Results from multilevel model analyses indicate that participants' engagement with, perceived control over, and reported quality in the domains of work, health, and family relationships follow general trajectories across adulthood that reflect age-graded and socially structured opportunities. Participants' engagement with each domain of life was associated with more positive reports of life quality and perceived control within these domains. These positive engagement benefits were least prominent in strongly age-graded domains (i.e., health), and most pronounced in less age-graded domains (i.e., work and family relationships). Results further indicate that individuals adaptively managed their engagement across these central domains of adulthood, in that cross-domain associations were positive or at least non-detrimental. While cross-domain engagement benefits were present across all four domains, they were most prominent in naturally facilitative pairings (e.g., relationships with one's spouse/partner and children). Overall, the results provide support for the proposition of the motivational theory of life-span development that adaptive lifespan development involves individual's active, simultaneous, and synchronous engagement with central domains of life.