This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e.g. mobile platform, two redundant arms, a head with vision and acoustic system), a motion coordination scheme is presented. The coordination scheme is based on the synchronization of the motion of each subsystem while performing a common task. The validity of the proposed coordination scheme is experimentally demonstrated by different tasks of the humanoid robot e.g. two-arm tasks, head-arm tasks or platform-arm tasks.