Skilled athletes can predict the outcome of actions performed by others, based on the kinematic information inherent in others’ actions, earlier and more accurately than less-skilled athletes. Activation of the motor cortex during action observation indicates motor simulation of other’s actions in one’s own motor system; this contributes to skilled outcome prediction. Thus, the present study investigated whether concurrent movements during action observation that affect motor simulation influence the accuracy of outcome prediction, namely, whether concurrent imitative movement and self-movement enhance and inhibit accuracy, respectively, based on skill level. Twelve male varsity basketball players (skilled group) and twelve male college students with no special training in basketball (less-skilled group) were required to predict the outcome of a basketball free throw by another player based on the action kinematics in the following four conditions: prediction without any action (observation), prediction with right-wrist volar flexion with maximum speed (incongruent-action), prediction with concurrent imitative movement during observation by right-wrist flexion as if imitating the model’s action (imitative-motion), or prediction with concurrent self-movement by right-wrist flexion as if shooting by oneself (self-motion). The results showed that the skilled group had degraded accuracy of outcome prediction in the self-motion condition compared to the observation condition. In contrast, accuracy in the less-skilled group was facilitated in the imitative-motion condition compared to the observation condition. The findings suggest that, at least in less-skilled participants, the appropriate motor simulation that relates to skilled prediction can be virtually induced by concurrent imitative movement during the prediction task, even if they have less experience of free throws. This effect in imitative movement is likely to occur by producing identical motor commands with observed action, thereby enabling the prediction of sensory consequences and outcome accurately via a forward model. We propose that traditional perceptual training with concurrent imitative movement is likely to be an effective way to develop visual- and motor-based hybrid outcome predictions that produce superior inferences in skilled athletes.