A stationary exercise device with a frame including a base, a front portion, and a back portion, a rail joined to the front portion and back portion including a portion of the rail that is spaced apart from and above the base, first and second supporting members linked to the frame to rotate about a first axis, first and second swing member connected to the rail to pivot about a swing axis, first and second control links pivotally connected to the first and second control members, and first and second pedals respectively connected to the first and second control links.