Human motion analysis has received a great attention from researchers in the last decade due to its potential use in different applications. This field of research focuses on the perception and recognition of human activities, including people identification. We have proposed a new method to extract human joints using a model-based method. the gait pattern is used to aid the extraction process, where model templates are established through the analysis of gait motion. Gait periodicity and other parameters are estimated through the finding of the heel strikes. The joints for the ankle, knee and hip are successfully extracted with high accuracy for an indoor data. In this way, we have established a baseline analysis which can be deployed in recognition, marker-less analysis and other areas.