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A general method for equation of motion of a human body is presented. The equation is in closed-form (i.e., analytic form). A hierarchical approach is introduced to get the equation of motion of the human body. The constraint force between subsystems is explicitly obtained which can be used to calculate the joint friction torque. The final equation of motion includes the dynamics of the unconstrained motion, the constraints, and the constraint forces including the joint friction torque induced by the nonideal constraints. No auxiliary variables such as Lagrange multipliers or pseudo-generalized speeds are needed. Therefore the equation of motion is most suitable for generic dynamic analysis and control design. A four-segment, planar, articulated linkage free fall human body is chosen to demonstrate this method.