It is still not understood how similar genomic sequences have generated diverse and spectacular forms during evolution. The difficulty to bridge phenotypes and genotypes stems from the complexity of multicellular systems, where thousands of genes and cells interact with each other providing developmental non-linearity. To understand how diverse morphologies have evolved, it is essential to find ways to handle such complex systems. Here, we review the fin-to-limb transition as a case study for the evolution of multicellular systems. We first describe the historical perspective of comparative studies between fins and limbs. Second, we introduce our approach that combines mechanistic theory, computational modeling, and in vivo experiments to provide a mechanical explanation for the morphological difference between fish fins and tetrapod limbs. This approach helps resolve a long-standing debate about anatomical homology between the skeletal elements of fins and limbs. We will conclude by proposing that due to the counterintuitive dynamics of gene interactions, integrative approaches that combine computer modeling, theory and experiments are essential to understand the evolution of multicellular organisms.