We examined the role of attention during different phases of the gait cycle by using a dual-task paradigm. Younger and older adults performed a self-paced treadmill walking task, a semantic judgment task, and both tasks simultaneously. We recorded vocal reaction time for the judgment task, and we recorded muscle activity by the use of electromyography. We derived dual-task costs from difference scores (single vs dual task). Our analysis of the judgment task showed that both groups responded more quickly during dual-task conditions than during single-task conditions. In five of eight muscle groups, stance-phase muscle activity decreased significantly from dual to single task. For older adults, individuals with poor balance increased their muscle activity during dual-task performance. These results suggest that, during moderately demanding walking and cognitive performance, poor balancers can compensate successfully for their motoric vulnerability.