Relatively little is known about how practice relates to children’s improvement in gross motor skill performance. The aim of this study is to determine to what extent 6- and 7-year-old children improve their gross motor skill performance in a four-week period, in which goal-directed learning is stimulated and to determine whether differences between boys and girls occur. Groups of 6 year olds ( n = 167) and 7 year olds ( n = 140) practiced their gross motor skill for four weeks. Physical education teachers stimulated goal-directed learning by their instruction, skill-specific exercises, and individual practice. The week before and after, gross motor skill performance was assessed, using the Körper Koordinations Test für Kinder, and compared with a control group ( n = 131). Both 6 and 7 year olds in the intervention group improved their gross motor skill performance significantly more than the control group. The results show the relevance of goal-directed learning for the improvement of gross motor skill performance.