The cortical motor system of primates is composed of distinct anatomical and functional areas, which are involved not only in motor functions but also in higher-order functions such as sensory-motor transformations, action understanding, and decision processing. The frontal lobe of primates is divided into a rostral (prefrontal cortex) and a caudal (motor cortex) sector. The motor cortex, characterized by the absence of granular cells, is further divided into several distinct areas, including F1 (primary motor cortex) and F2–F7. These areas play a crucial role in generating internal representations of actions, which can be transformed into actual actions based on external contingencies and motivational factors. Recent studies have highlighted the importance of the parieto-dependent and prefronto-dependent motor areas. The parieto-dependent areas, receiving input from the parietal lobe, are involved in sensory-motor transformations, while the prefronto-dependent areas, receiving input from the prefrontal cortex, are involved in higher-order cognitive functions such as decision-making and action initiation. Area F5, located in the ventral premotor cortex, is particularly important for object grasping movements and contains a "vocabulary" of motor actions. Mirror neurons, found in F5, are active during both action execution and observation, suggesting a direct coupling between action observation and execution. The role of the motor system extends beyond motor functions to include action recognition and imitation. Mirror neurons may play a key role in action recognition by allowing individuals to recognize actions made by others. In humans, these same cortical areas also seem to be involved in imitation, suggesting that a similar mechanism may underlie imitation in monkeys and humans. The prefronto-dependent area F6 is involved in the control of motor sequences and the transformation of potential motor actions into actual movements. Lesions to this area can lead to deficits in movement initiation and "liberation" of motor acts, indicating its critical role in motor control. In conclusion, the motor system in primates is more complex than previously thought, involving not only motor functions but also higher-order cognitive processes. The ability to generate internal representations of actions and the interaction between different motor areas contribute to the system's versatility and adaptability.The cortical motor system of primates is composed of distinct anatomical and functional areas, which are involved not only in motor functions but also in higher-order functions such as sensory-motor transformations, action understanding, and decision processing. The frontal lobe of primates is divided into a rostral (prefrontal cortex) and a caudal (motor cortex) sector. The motor cortex, characterized by the absence of granular cells, is further divided into several distinct areas, including F1 (primary motor cortex) and F2–F7. These areas play a crucial role in generating internal representations of actions, which can be transformed into actual actions based on external contingencies and motivational factors. Recent studies have highlighted the importance of the parieto-dependent and prefronto-dependent motor areas. The parieto-dependent areas, receiving input from the parietal lobe, are involved in sensory-motor transformations, while the prefronto-dependent areas, receiving input from the prefrontal cortex, are involved in higher-order cognitive functions such as decision-making and action initiation. Area F5, located in the ventral premotor cortex, is particularly important for object grasping movements and contains a "vocabulary" of motor actions. Mirror neurons, found in F5, are active during both action execution and observation, suggesting a direct coupling between action observation and execution. The role of the motor system extends beyond motor functions to include action recognition and imitation. Mirror neurons may play a key role in action recognition by allowing individuals to recognize actions made by others. In humans, these same cortical areas also seem to be involved in imitation, suggesting that a similar mechanism may underlie imitation in monkeys and humans. The prefronto-dependent area F6 is involved in the control of motor sequences and the transformation of potential motor actions into actual movements. Lesions to this area can lead to deficits in movement initiation and "liberation" of motor acts, indicating its critical role in motor control. In conclusion, the motor system in primates is more complex than previously thought, involving not only motor functions but also higher-order cognitive processes. The ability to generate internal representations of actions and the interaction between different motor areas contribute to the system's versatility and adaptability.