Execution and learning of diverse movements involve neuronal networks distributed throughout the nervous system. Brainstem and basal ganglia are key for processing motor information. Both harbor functionally-specialized populations stratified based on axonal projections, synaptic inputs and gene expression, revealing a correspondence between circuit anatomy and function at a high level of granularity. Neuronal populations within both structures form multi-step processing chains dedicated to the execution of specific movements. However, the connectivity and communication between these two structures is only just beginning to be revealed. Brainstem and basal ganglia are also embedded into wider networks, and systems-level loops. Important networking components include broadcasting neurons in cortex, cerebellar output neurons, and midbrain dopaminergic neurons. Action-specific circuits can be enhanced, vetoed, work in synergy or competition with others or undergo plasticity to allow for adaptive behavior. We propose that this highly specific organization of circuits in the motor system is a core ingredient for supporting behavioral specificity, and at the same time providing an adequate substrate for behavioral flexibility.