This video illustrates the research paper, trajectory following for legged robots submitted to the International Conference on Biomedical Robotics and via Metatronics. The proposed algorithm allows reliable trajectory following on legged robots such as this HRP 2 humanoid robot. During this walking movement, the robot position is estimated by a motion capture system. During this localization, the execution error is estimated and compensated online. The novelty of this control scheme resides in its capacity to handle the legged robots particular features. The correction preserves the trajectory stability while ensuring that the perturbed movement is still a feasible. Experiments have shown that humanoid robots drift cannot be ignored. During a walking movement, an increase of the position error of about 1 cm per step has been observed. However, if these errors are compensated during the execution, the final position will be reached with the precision of a few centimeters regardless of the trajectory length. This approach enables legged robots to achieve complex tasks requiring a precise execution such as opening doors, stepping over obstacles or climbing stairs without having to replay the whole movement online. In the near future, the external localization system will be replaced by an embedded, vision-based localization system. Complex movements including manipulation will be planned and executed on the robot. More information is available in the article, trajectory following for legged robots, available online and on the Gipeta Research Group homepage.