The aim of the study was to investigate the development of a rhythmical skill of children aged from 5 to 12 years old. Five age groups (5–6, 7–8, 9–10, 11–12, and young adults) performed a virtual ball bouncing task (16 forty-second long test trials). Task performances, racket oscillation, ball-racket impacts as well as the ball-racket coupling were analysed. The results showed a change in both performance and behaviour at the age of 7 years old. Before this age, children exhibited restricted perceptual-motor coordination with a high frequency of racket oscillation and a poor level of performance. After the age of 7, cycle-to-cycle adaptive coordination based on visual information was progressively acquired leading to increasing performance levels with age. Overall these results revealed a rapid change in capability to perform the ball bouncing task across age with a late emergence of the required coordination and significant change in the coordination at the age of 7.