A neuromodulation system and a method of inducing voluntary movement in a mammal with a spinal injury are disclosed. In an example, a neuromodulation system includes a processor, a signal generator, and at least one electrode. The processor, in cooperation with the signal generator and the at least one electrode are configured to deliver a transcutaneous stimulation to a mammal. The transcutaneous stimulation includes during a first time period, a transcutaneous electrical spinal cord stimulation (“tESCS”) applied to the mammal during physical conditioning of the mammal. The transcutaneous stimulation also includes during a second time period after the first time period, the tESCS applied to the mammal during reduced or no physical conditioning of the mammal. The tESCS applied during the first time period and the second time period is used to establish a functional baseline of the mammal.