The research presented characterizes an important part of balance and gait: gait termination. Two separate analyses were done. The first involved only those variables that required minimum computation and could be easily compared to the results of other gait termination studies. These variables included time between foot contacts, relative joint angles and velocities, and ground reaction forces. The second analysis utilized joint energy (defined as the amount of energy generated or absorbed by the muscles crossing the joint) to determine where changes in energy are required for gait termination. In both of these studies, comparisons to steady-state gait as well as successful/unsuccessful stopping were done. Twelve male subjects walked at a self-selected speed and attempted to stop behind a designated stop line if a red light turned on. In the first analysis, ground reaction forces for the last three foot contacts, normalized to body weight (%BW), and sagittal plane kinematics on both sides of the body were collected and analyzed. Decreased push-off forces of the trailing leg (-5.0±2.7%BW posterior, -9.4±6.5%BW vertical), increased braking of the forward leg (25.9±4.2%BW anterior, 23.5±12.7%BW vertical), decreased time between foot contacts with the ground (double stance time changed 21%), and several different joint angle kinematic measures were all significantly different for stopping compared to normal gait. In addition, a reduced push-off and a link between the swing leg and the horizontal braking forces of the contralateral leg were identified as being important factors in successful stopping. In the joint energy analysis, a significant energy absorption by the braking leg (197% greater peak power at the ankle; greater energy absorbed at the knee and hip) were seen. The largest reduction in energy input was seen in the push-off leg where energy generation decreased 16.8% of the average total energy required to stop. There was also evidence of knee flexion during swing being influenced by the reduced push-off. The results from a comparison of successful to unsuccessful stopping suggested a strategy of minimizing the energy required to move the leg through swing, possibly with a transfer of energy between the legs.