In this chapter, we ask two questions. First, can the study of the perception-action system across time offer a useful model for understanding motor development? Second, can the study of the perception-action system in children with developmental coordination disorder (DCD) inform our understanding of atypical as well as typical motor development? We begin by describing the dynamical systems perspective and a control-theoretic approach that together provide the conceptual framework for our paradigms, methodology, and interpretation of our experiments. Our experimental strategy has been to perturb one or more sensory systems and observe the effect on the motor system. The majority of the chapter explains how we employed two principal perturbation strategies: (1) removing or adding a static source of sensory information believed to be salient to the task at hand and (2) enhancing a dynamic source of sensory information either implicitly or explicitly. These strategies were employed in three different action systems: posture; rhythmic interlimb coordination, and goal-directed reaching and drawing. After synthesizing our findings, we conclude by addressing the original questions and offering future directions. In brief, we consider that perception-action coupling is an underlying mechanism/foundation/constraint of motor development in the sense that the ongoing processing of sensations and the planning and execution of movements are how the brain produces goal-directed movements. Therefore, a better understanding of how this coupling changes or adapts over time has much to offer as to how motor behavior develops across the lifespan, both typically and atypically.