Humanoid robots are not easy to program, it's a challenging task, even if they come with an advanced high level programming interfaces, such as drag-and-drop applications, which are indeed less complex and save a lot of time, it still needs an experienced user to produce a high quality motion, especially for the natural human-like motions which are very hard to reproduce. This paper introduces a new technique to fully imitate the human body motion on a humanoid robot NAO in real time using the Kinect Depth Camera, OpenNI Framework and the Robot Operating System (ROS).