It is needed for humanoid to acquire not only just a trajectory but also aim of the behavior and symbolic information during behavior development. We (2001) have proposed the mimesis system as a framework of synchronous learning model for behavior acquisition and symbol emergence. However, the motion elements which are fundamental representation of behavior have stood on the unsuitable assumption that they are given without taking the robot embodiment and dynamics into consideration. In this paper, the design theory of motion elements with consideration of the embodiment are shown, and novel methods of realization of the mimesis for real humanoids is proposed.