An exercise apparatus includes left and right foot links having first end portions rotatably connected to respective cranks, intermediate portions constrained to move in reciprocating fashion, and opposite, second end portions configured to support a person's feet. The resulting assembly links rotation of the cranks to movement of the foot supports through generally elliptical paths. Outboard handlebars are connected to the intermediate portions of the foot links to facilitate coordinate arm exercise without interfering with the leg exercise motion.