Research on embodied decision-making only recently started to examine whether and how concurrent actions influence value-based decisions. For instance, during walking humans preferably make decisions that align with a turn towards the side of their current swing leg, sometimes resulting in unfavorable choices (e.g., less rewards). It is suggested that concurrent movements influence decision-making by coincidental changes in motor costs. If true, systematic manipulations of motor costs should bias decisions. To test this, participants had to accumulate rewards (i.e., points) by walking and turning towards left and right targets displaying rewards across three experiments. In Exp. 1a and 1b, we manipulated turning cost based on the current swing leg by applying different symmetrical turning magnitudes (i.e., same angles for left and right targets). In Exp. 2, we manipulated the turning cost by administering asymmetrical turning magnitudes (i.e., different angles for left and right targets). Finally, in Exp. 3, we increased the cost of walking by adding ankle weights. Altogether, the experiments support the claim that differences in motor costs influenced participants' decisions: Exp. 1a and 1b revealed that the swing leg effect and stepping behavior was moderated by turning magnitude. In Exp. 2, participants showed a preference for less costly, smaller turning magnitudes. Exp. 3 replicated the swing leg effect when motor costs were increased by means of ankle weights. In conclusion, these findings provide further evidence that value-based decisions during ongoing actions seem to be influenced by dynamically changing motor costs, thereby supporting the concept of 'embodied decision-making'.