The purpose of this study was to identify invariant features of shoulder and elbow kinematics during prereaching arm movements with and without a toy present. Invariant movement features may reflect the presence of constraints that reduce the complexity of learning to reach and provide a link between early arm movements and reaching. Joint excursion and smoothness were consistently greater at the shoulder than the elbow suggesting strong organismal constraints on prereaching movements. Speed became greater in the shoulder than the elbow only with a toy present during the 4 weeks leading up to reach onset suggesting the introduction of task related constraints. We propose that organismal constraints on joint coordination throughout the prereaching period provide a foundation for the overlay of task related constraints closer to reach onset. We also suggest that the coordinative structures of early arm movements and later reaching may be much more similar than currently thought. This similarity would significantly reduce the elements needing to be actively controlled, and simplify the learning process.