The ability to learn and adapt precise motor programs in a changing environment is crucial for animal survival. A prominent theory suggests that the cerebellum utilizes forward models to compare perceived sensory stimuli (perceived reafference) with predictions based on past experiences (expected reafference), quickly adjusting motor programs to environmental changes. Utilizing a new mouse behavioral paradigm involving sensorimotor perturbations in a simple joystick pulling task, we can decipher the role of the cerebellum in rapid motor adaptation. Previous results revealed parasagittal bands of Purkinje cells (PCs) encoding the sensorimotor mismatch's sign and magnitude (V.Nguyen & B.Stell 2024). However, gaps remain: How do cerebellar cell types perceive, learn, and store expected reafference during motor adaptation? How does the cerebellum influence motor areas to adapt future motor commands? Here we employ the joystick pulling task to explore the interaction between motor areas and the cerebellum and its impact on rapid motor learning. Optogenetic stimulation of the cerebellum disrupts normal movement, with timing of cerebellar disruption playing a crucial role in the mouse's ability to adapt. Two-photon imaging experiments suggest correlations between activity of pyramidal cells in the anterolateral motor cortex (ALM) and behavior adaptation, indicating parallel changes in cerebellar and cortical activity. The study provides insights into the intricate interaction between the premotor cortex and cerebellum during rapid motor adaptation.