Inclusion Criteria:  Age 30-90 years Parkinson's disease as measured by Hoehn & Yahr stage 2-3 Idiopathic Parkinson's Disease patients diagnosed by a Movement Disorder Neurologist Stable dopaminergic medication for 1 month prior to the study and during the study (6 month intervention) Requires ongoing physical therapy as assessed by a physical therapist  Exclusion Criteria:  Comorbidities including orthopedic injuries or cardiopulmonary disease that would potentially interfere with physical therapy and assessments Severe cognitive impairments (MMSE <21) Unable to participate in all therapy sessions