Clinicians in the field of rehabilitation receive highly variable education and training on how to apply motor learning theory and principles of neurorehabilitation to clinical practice. This results in many clinicians falling back on traditional, less effective approaches to rehabilitation. The use of motor learning theory can be used to guide clinical decision making and the structuring of effective and challenging interventions for patients with stroke and other similar neurological conditions. This presentation will provide information on motor learning theories to consider when prescribing rehab interventions and use of the challenge point framework to optimize learning. Additionally, applying motor learning theory to neurorehabilitation principles and clinical practice in stroke rehabilitation will also be presented.