Apparatus and associated methods relate to a natural gait therapy device having an adjustable gait timing linkage assembly configured to operate an adjustable knee support assembly and an adjustable height foot assembly to simulate a normal walking pattern for a user based on characteristics of the user. In an illustrative example, the adjustable gait timing linkage assembly includes a chain sprocket configured to adjust a degree of heel lift and a length to the point of the heel lift during a normal walking simulation. In some embodiments, a gait stride adjustment assembly may adjust a stride length to accommodate different sized users. The gait stride adjustment assembly may advantageously contribute to the natural walking pattern simulation.