This paper presents a study of modeling articulatory movements for continuous speech utterances. Our model determines the trajectory of the articulatory movements so that it can form the vocal tract into phoneme-specific shapes. It accounts for the degrees-of-freedom problem in forming specific vocal tract shapes, and redundancies in the articulation system are solved by minimizing an appropriate objective function so that articulatory movement is uniquely determined. Articulatory movements were simulated for a phoneme sequence, and the results were compared with measured data.