The end-state comfort (ESC) effect is an important aspect of anticipatory be-havioral control. It reflects a persons strategy to avoid uncomfortable body positions at the end of movements. As the focus of previous studies primarily laid on young adults, there are only few studies on the ESC effect in children, which show divergent findings. By means of the systematic review (Chapter 2), possible reasons for these inconsistent findings were provided (e.g. age effects, the number of action-steps, precision requirements, or task differences). One assumption provided in the systematic review was examined in Chapter 3. This assumption implied that motor development relies on the development of cognitive control, mainly on the development of executive functions. Therefore, a test battery was designed, consisting of three motor tasks to measure ESC and three cognitive tasks to measure executive functions. Nevertheless, results were not able to approve the assumption. An important finding was that the performance in the different motor and cognitive tasks were not related to each other, suggesting an interindividually different developmental trajectory for each of them. The focus of future studies should rely on the examination of potential constraints on ESC planning, like those outlined in Chapter 2, which possibly influenced the developmental trajectories of the ESC effect in childhood and caused the inconsistent findings in the studies reviewed. Moreover, causes should be detected for the fact, that the tasks used in Chapter 3 were not related to each other. Another focus should be on the influence of other executive functions, like inhibition, on the development of ESC.