The cortical motor system of primates consists of multiple anatomically and functionally distinct areas that are not only involved in motor functions but also in higher-order cognitive processes. This review discusses three key functions of motor cortical areas: sensory-motor transformations, action understanding, and decision processing for action execution. The motor cortex is divided into parieto-dependent and prefronto-dependent areas, with the former receiving input from the parietal lobe and the latter from the prefrontal cortex. These areas differ in their roles, with parieto-dependent areas involved in sensory-motor transformations and action understanding, while prefronto-dependent areas are involved in decision-making and planning. Area F5 is crucial for grasping movements, containing a "vocabulary" of motor actions that enable the selection of appropriate motor prototypes. Neurons in F5 respond to specific actions and are involved in transforming visual information into motor actions. The AIP-F5 circuit plays a key role in visuomotor transformations for grasping, with AIP neurons providing visual information to F5, which then activates motor prototypes. Inactivation studies show that F5 is essential for grasping, with deficits in hand shaping and precision grip. Mirror neurons in F5 are involved in action observation and execution, firing both when an action is performed and when it is observed. These neurons help in recognizing and imitating actions, and their activity is crucial for action understanding and imitation. The role of the prefrontal cortex in motor control is also discussed, with F6 playing a key role in movement initiation and sequence learning. F6 is involved in the organization of motor sequences and the integration of visual and motor information. The motor system's functions extend beyond movement, contributing to action understanding, imitation, and the processing of visual and motor information. The review highlights the complexity of the motor system and its role in various cognitive and motor functions.The cortical motor system of primates consists of multiple anatomically and functionally distinct areas that are not only involved in motor functions but also in higher-order cognitive processes. This review discusses three key functions of motor cortical areas: sensory-motor transformations, action understanding, and decision processing for action execution. The motor cortex is divided into parieto-dependent and prefronto-dependent areas, with the former receiving input from the parietal lobe and the latter from the prefrontal cortex. These areas differ in their roles, with parieto-dependent areas involved in sensory-motor transformations and action understanding, while prefronto-dependent areas are involved in decision-making and planning. Area F5 is crucial for grasping movements, containing a "vocabulary" of motor actions that enable the selection of appropriate motor prototypes. Neurons in F5 respond to specific actions and are involved in transforming visual information into motor actions. The AIP-F5 circuit plays a key role in visuomotor transformations for grasping, with AIP neurons providing visual information to F5, which then activates motor prototypes. Inactivation studies show that F5 is essential for grasping, with deficits in hand shaping and precision grip. Mirror neurons in F5 are involved in action observation and execution, firing both when an action is performed and when it is observed. These neurons help in recognizing and imitating actions, and their activity is crucial for action understanding and imitation. The role of the prefrontal cortex in motor control is also discussed, with F6 playing a key role in movement initiation and sequence learning. F6 is involved in the organization of motor sequences and the integration of visual and motor information. The motor system's functions extend beyond movement, contributing to action understanding, imitation, and the processing of visual and motor information. The review highlights the complexity of the motor system and its role in various cognitive and motor functions.