This project concerns the incorporation of motion planning in a Skill-Based System (SBS). The vision with SBS is outlined first, whereupon the structure of it is explained. For this structure a long-term and a short-term concept proposal is made for incorporation of motion planning. Among three, the motion planning software MoveIt is chosen for implementation. A motion planning study is conducted for the sampling-based algorithms of the Open Motion Planning Library, which MoveIt utilises. A benchmark is made to select applicable motion planners in coherence with the theory examined in the motion planning study. Motion planning is implemented in the SBS as proof-of-concept for the short-term proposal. Furthermore, motion planning with multiple manipulators and motion planning in a sensor-based environment is implemented and tested.