Subject motion is unavoidable in clinical and research imaging studies. Breathing is the most important source of motion in whole-body positron emission tomography (PET) and magnetic resonance imaging (MRI) studies, affecting not only thoracic organs but also those in the upper and even lower abdomen. The motion related to the pumping action of the heart is obviously relevant in high-resolution cardiac studies. These two sources of motion are periodic and predictable, at least to a first approximation, which means certain techniques can be used to control the motion (e.g. by acquiring the data when the organ of interest is relatively at rest). Additionally, non-periodic and unpredictable motion can also occur during the scan. One obvious limitation of methods relying on external devices (e.g. respiratory bellows or the ECG signal to monitor the respiratory or cardiac cycle, respectively) to trigger or gate the data acquisition is that the complex motion of internal organs cannot be fully characterized. However, detailed information can be obtained either using the PET or MRI data (or both) allowing the more complete characterization of the motion field so that a motion model can be built. Such a model and the information derived from simple external devices can be used to minimize the effects of motion on the collected data. In the ideal case, all the events recorded during the PET scan would be used to generate a motion free/corrected PET image. The detailed motion field can be used for this purpose by applying it to the PET data before, during or after the image reconstruction. Integrating all these methods for motion control, characterization and correction into a workflow that can be used for routine clinical studies is challenging but could potentially be extremely valuable given the improvement in image quality and reduction of motion-related image artifacts.