Although three-dimensional (3D) glenohumeral (GH) motion has generally been expressed only by rotational elements, its mechanistic details, including GH rotations, remain unknown owing to a lack of geometric investigations. This study aims to investigate the positional relationship between the contact path and humeral tuberosities at the GH joint during arm elevation and to consider the mechanism of GH kinematics. Shoulder kinematics were captured using two-dimensional and 3D single-plane image registration techniques in 15 young healthy subjects during flexion, scaption, and abduction. The glenoid movement relative to the humeral head was calculated to describe the contact path on the humeral head. From the start to 45° of flexion, scaption, and abduction, the glenoid center moved from the anteromedial to the anterior, central, and posterior portions of the humeral head, respectively, as the GH joint rotated externally. From 45° to the maximal elevation for all elevation planes, the glenoid center moved upward to the humeral head and came close to the bicipital groove (BG) at maximal elevation, while the glenoid maintained a constant inclination at 20°–40° relative to the humerus. To investigate this mechanism, the position of humeral tuberosities relative to the glenoid was calculated, and the BG was found to face the supraglenoid tubercle, the attachment site of the long head of biceps (LHB). GH external rotation mainly occurred depending on the elevation planes in the early phase of elevation, and it might be kept constant by the LHB and rotator cuff in the mid- to end range of elevation.