Despite their common origin, studies on motor coordination and on attentional load have developed into separate fields of investigation, bringing out findings, methods, and theories which are diverse if not mutually exclusive. Sitting at the intersection of these two fields, this article addresses the issue of behavioral flexibility by investigating how intention modifies the stability of existing patterns of coordination between moving limbs. It addresses the issue, largely ignored until now, of the attentional cost incurred by the central nervous system (CNS) in maintaining a coordination pattern at a given level of stability, in particular under different attentional priority requirements. The experimental paradigm adopted in these studies provides an original mix of a classical measure of attentional load, namely, reaction time, and of a dynamic approach to coordination, most suitable for characterizing the dynamic properties of coordinated behavior and behavioral change. Findings showed that central cost and pattern stability covary, suggesting that bimanual coordination and the attentional activity of the CNS involved in maintaining such a coordination bear on the same underlying dynamics. Such a conclusion provides a strong support to a unified approach to coordination encompassing a conceptualization in terms of information processing and another, more recent framework rooted in self-organization theories and dynamical systems models.