Purpose This study aimed to investigate the effects of gait training with upper limb task on balance and gait in stroke patients. Methods The participants were allocated to the study or control group 15 each by block randomization. Training with Upper Limb Task was applied to the study group, while regular gait training was applied to the control group. The training consisted of three 30minute sessions per week for a total of eight weeks. To measure the dependent variables according to the study intervention, postural stability, balance, and gait were assessed. A balance gear was used to measure postural sway for postural stability. The measurements included hard surface, foam surface, and other tests in standing position. The Berg balance scale(BBS) and Timed up and go test(TUG) were used to measure balance. Moreover, a gait analyzer(Kinesis Gait) was used for gait assessment. Results Both groups showed significant improvements, with the study group exhibiting greater reductions in sway angles and rotational angles. Balance parameters indicated significant increases in both static and dynamic balance for both groups, with the study group showing superior improvements in dynamic balance and TUG times. Gait parameters improved significantly in both groups, with the study group demonstrating greater gains in gait speed, cadence, step lengths, and a more pronounced decrease in the symmetry index. Conclusion The gait training with upper limb task proposed in this study is confirmed as an effective approach in physical therapy for stroke patients.