Upper limb motion can be challenging to measure and analyze during work or daily life tasks. Further, humeral angle calculation method substantially influences angle outcomes. Therefore, the purpose of this study was to assess the repeatability of scapular and humeral kinematics and compare thoracohumeral angle calculation during a work-related and functional task (WRAFT) protocol. Thirty healthy young adults completed the WRAFT protocol (Comb Hair, Wash Axilla, Tie Apron, Overhead Reach, Side Reach, Forward Transfer, Floor Lift, and Overhead Lift) on two separate occasions. Peak humeral angles and select scapular angles were extracted for each task. Intra-class correlation coefficients (ICCs), standard error of measurement, and minimal detectable change (MDC) were examined. Humeral angles were compared using the XZY and ZXY rotation sequences and “true” axial rotation for incidence of gimbal lock and amplitude coherence. Results showed that for scapular kinematics, elevation-based WRAFTs produced overall better ICC scores (0.23–0.90) compared to those tasks primarily driven by lateral humeral motion (0.02–0.84). MDCs ranged from 7°–78°, suggesting some tasks demonstrated good repeatability (Comb Hair, Overhead Reach, Floor Lift), while others had very high variability (Side Reach, Tie Apron). Amplitude coherence for thoracohumeral angles was best for ZXY for all tasks except the Comb Hair and Tie Apron, for which XZY is recommended. “True” axial rotation demonstrated good coherence for all but Tie Apron. The WRAFT protocol may be used for functionally relevant scapular and humeral kinematic assessment for select task and posture combinations.