The role played by motor representations in tracking others’ belief-based actions remains unclear. In experiment 1, the dynamics of adults’ anticipatory mediolateral motor activity (leftwards–rightwards leaning on a balance board) as well as hand trajectories were measured as they attempted to help an agent who had a true or false belief about an object’s location. Participants’ leaning was influenced by the agent’s belief about the target’s location when the agent was free to act but not when she was motorically constrained. However, the hand trajectories participants produced to provide a response were not modulated by the other person’s beliefs. Therefore, we designed a simplified second experiment in which participants were instructed to click as fast as possible on the location of a target object. In experiment 2, mouse-movements deviated from an ideal direct path to the object location, with trajectories that were influenced by the location in which the agent falsely believed the object to be located. These experiments highlight that information about an agent’s false-belief can be mapped onto the motor system of a passive observer, and that there are situations in which the motor system plays an important role in accurate belief-tracking.