Inclusion Criteria:  Enrolled in supervised exercise therapy (SET)  One or more fall risk factors as determined by CDC STEADI fall risk screener  One or more falls in the last year Unsteadiness when standing or walking Worries about falling Have symptomatic peripheral artery disease (PAD) with objective diagnosis (ABI less than or equal to 0.90 or previous revascularization)  Exclusion Criteria:  Formal diagnosis of neurocognitive impairment or <3 on Callahan 6-Item Screener Current uncontrolled vestibular dysfunction (e.g. Meniere's Disease, benign paroxysmal positional vertigo) Participants who self-report the following symptoms will require clearance from a primary provider (as guided by the Exercise and  Screening for You Questionnaire):  Pain, tightness or pressure in chest during physical activity (walking, climbing stairs, household chores, similar activities) that have not been checked and/ or treated by a healthcare provider Current dizziness that have not been checked and/ or treated by a healthcare provider  Current, frequent falls that have not been checked and/ or treated by a healthcare provider  Other clinically significant disease that is, in the opinion of the study team, not stabilized or may otherwise confound the results of the study