Programming by demonstration has its roots in robotics research and is a powerful mechanism for training robots to perform a variety of tasks. The idea behind this is to have a human operator demonstrate the task which the robot is supposed to learn. Inspired by this approach, we aim to experiment with and apply techniques to create virtual characters that act and react convincingly human in selected social scene (Billard, Calinon, Dillmann, & Schaal, 2008).