This chapter provides evidence of spatial and temporal changes in the behavior of neurons within Areas 5 and 4 of the sensorimotor cortex of a nonhuman primate while it was executing a perturbed arm-reaching task. Chronically implanted electrode arrays were used to record simultaneously from 37 to 58 neurons. Also measured were the trajectory of arm movement, EMG activity in selected arm muscles and the perturbation force applied to the arm. The adaptation in Area 4 neurons' behavior usually involved a reduction in the latency from the onset of the perturbation to the peak-firing rate of the cell. In contrast, Area 5 neurons exhibited no such adaptive change in this latency. In each cortical area, the adaptation was not uniform across all neurons, and the spatial pattern of neuronal population behavior changed over the period of behavioral adaptation. We also found that the direction of arm movement and its configuration were important in determining which control strategy (predictive trajectory compensation or stiffness control) the animal used to overcome the externally applied perturbation for an improved performance of the reaching task.