Abstract: The aim of this study was to investigate the test-retest reliability of spatiotemporal parameters and lower-limb joint angles, obtained from Xsens inertial-sensor-based motion capture system during walking in healthy subjects. Fifteen able-bodied adults completed two separate gait assessments, separated by 6±1?days. Spatiotemporal parameters and lower-limb joint angles were analyzed. The intraclass correlation coefficient (ICC) and standard error of measurement (SEM) were used to compare the relative reliability and absolute reliability of those two sessions. The results showed that the ICC of the spatiotemporal parameters was generally fair-to-excellent, and most of the SEM was excellent. All joints in sagittal plane were excellent and fair-to-excellent agreement was found for all joint angles in transverse and frontal plane, and SEM results were excellent. Our results suggest that the Xsens system is reliable for measuring spatiotemporal gait parameters and lower-limb joint angles in healthy young people, and it can be used by clinicians or researchers to conduct gait research.