— This paper proposes a method for synthesizing dance performance synchronized to played music and our method presents a system that imitates dancers’ skills in performing their motion while they listen to the music. Our method consists of a motion analysis, a music analysis, and a motion synthesis based on results of the analyses. In these analysis steps, motion and music features are acquired. These features are derived from motion keyframes, motion intensity, music intensity, musical beats, and chord changes. Our system also constructs a motion graph to search similar poses from given dance sequences and to connect them as possible transitions. In the synthesis step, the trajectory that provides the best correlation between music and motion features is selected from the motion graph, and the resulting motion is generated. Our experimental results indicate that our proposed method actually creates dance as the system “hears” the music.