Background: This research aims to compare lower limb inter-segmental coordination, a higher order property of the human movement system, during walking between healthy controls and people with multiple sclerosis (PwMS) with and without fall history.Methods: Fifty PwMS (25 patients with fall history and 25 patients without fall history) and 25 healthy controls participated in the present study. Three-dimensional coordinate data of the lower limbs were collected during treadmill walking at a preferred walking speed. The phasing relationship and its variability between lower limb segments were evaluated using the mean absolute relative phase (MARP) and deviation phase (DP) during the stance and swing phases of gait.Results: Compared to healthy controls, both groups of PwMS demonstrated significantly greater shank-thigh MARP values during the stance phase (p