A standup exercise apparatus simulates walking and jogging with arm exercise. Foot pedals move with a back and forth movement while the pedals are inclined with the toe above the heel during the latter portion of forward movement of the foot while the heel is inclined above the toe during the latter portion of rearward movement of the foot. Foot pedals move with smooth elliptical motion resulting from a linkage mechanism having smooth orbital motion without the characteristic turnaround jerk associated with reciprocating member elliptical drives. Leg joint impact is controlled to be very low as to allow extended exercise without joint soreness. Arm exercise is coordinated with motion of the feet.