at least one cueing actuator comprising at least one stimulation apparatus configured to be disposed at one or more cueing sites on each side of a patient's body to provide bilateral stimulation;

a memory for storing a non-transitory computer program;

a motion sensing system including one or more motion sensing elements, configured to detect motion of the patient; and

a controller programmed to execute the program stored in the memory to allow the controller to activate cueing, wherein the at least one cueing actuator, the memory, and the controller are in electrical contact; and

wherein the controller is programmed to:

determine movement of a leg of the patient during a current stride; and

activate cueing customized to the patient, in response to signals received from the motion sensing system, to provide stimulation to a contralateral arm of the patient, to enable a timing relationship between the movement of the contralateral arm of the patient with movement of the leg of the patient.