Balance impairment is a common symptom of Parkinson’s disease (PD), suggesting the reclassification of the PD to a tetrad: rest tremor, rigidity, bradykinesia, and balance impairment. Falling is the most evident symptom of inadequate balance. Falls are expected to be twice as likely in individuals with PD compared to age-matched controls, and PD has a fourfold increased risk of hip fractures compared to age-matched controls. Balance is crucial for walking and, as a result, influences the performance of various daily activities around the home and community. This chapter is designed around the four postural domains to give researchers a framework for assessing balance control in Parkinson’s disease patients: (1) postural transitions; (2) reactive response; (3) quiet and prolonged standing; and (4) dynamic balance during walking.