Voluntary movement in animal is regulated be the sensorimotor cortex. The cortex generates the motor command as well as signals to increase the weight of relevant sensory information (sensory gating) that are both essential for the realization of adapted and coordinated movements. The corticospinal tract (CST) is the most direct pathway conveying these signals. Our previous work on anesthetized mice has shown that the lumbar projecting CST induces mainly the modulation of sensory information rather than the direct control of muscle contraction. The aim of our study is to identify the implication of these neurons in a physiological context implying skilled motricity. To do so we used an approach combining multi-unit electrophysiological recordings and optotagging in order to identify lumbar projecting CST neurons while precisely recording hindlimb movements using a motion capture apparatus during different locomotion tasks such as crossing obstacles, or a ladder.Our results demonstrate that corticospinal neurons have an activity correlated with basic locomotion phases, as well as an increased activity at the onset of a platform crossing or at the vicinity of an obstacle. This study improves our understanding of the corticolumbar pathway and its implication in the encoding of sensory-motor information.