Using GABAergic outputs from the SNr or GP(i), the basal ganglia exert inhibitory control over several motor areas in the brainstem which in turn control the central pattern generators for the basic motor repertoire including eye-head orientation, locomotion, mouth movements, and vocalization. These movements are by default kept suppressed by tonic rapid firing of SNr/GP(i) neurons, but can be released by a selective removal of the tonic inhibition. Derangement of the SNr/GP(i) outputs leads to either an inability to initiate movements (akinesia) or an inability to suppress movements (involuntary movements). Although the spatio-temporal patterns of individual movements are largely innate and fixed, it is essential for survival to select appropriate movements and arrange them in an appropriate order depending on the context, and this is what the basal ganglia presumably do. To achieve such a goal, however, the basal ganglia need to be trained to optimize their outputs with the aid of cortical inputs carrying sensorimotor and cognitive information and dopaminergic inputs carrying reward-related information. The basal ganglia output to the thalamus, which is particularly developed in primates, provides the basal ganglia with an advanced ability to organize behavior by including the motor skill mechanisms in which new movement patterns can be created by practice. To summarize, an essential function of the basal ganglia is to select, sort, and integrate innate movements and learned movements, together with cognitive and emotional mental operations, to achieve purposeful behaviors. Intricate hand-finger movements do not occur in isolation; they are always associated with appropriate motor sets, such as eye-head orientation and posture.