Creating a complex virtual environment with human inhabitants that behave as we would expect real humans to behave is a difficult and time consuming task. Time must be spent to construct the environment, to create human figures, to create animations for the agents' actions, and to create controls for the agents' behaviors, such as scripts, plans, and decision-makers. Often work done for one virtual environment must be completely replicated for another. The creation of robust, procedural actions that can be ported from one simulation to another would ease the creation of new virtual environments. As walking is useful in many different virtual environments, the creation of natural looking walking is important. In this paper we present a system for producing more natural looking walking by incorporating actions for the upper body. We aim to provide a tool that authors of virtual environments can use to add realism to their characters without effort.