This study evaluates the effects of object weight and hand dominance on the end-point kinematics of the hand-to-mouth (withdrawal) movement in a functional reach-to-drink task for typically developing school-aged children. Using 3D motion capture, speed (average velocity and peak velocity), straightness (ratio), and smoothness (number of velocity peaks and log dimensionless jerk) of hand movements were calculated for the withdrawal motion with three different bottle weights (empty, half-filled, and full). Average velocity (550.4 ± 142.0 versus 512.1 ± 145.6 mm/s) and peak velocity (916.3 ± 234 versus 842.7 ± 198.4 mm/s) were significantly higher with the empty versus half-filled bottle and with the non-dominant (average: 543.5 ± 145.2 mm/s; peak: 896.5 ± 207 mm/s) versus dominant (average: 525.2 ± 40.7 mm/s; peak: 864.2 ± 209.2 mm/s) hand. There were no differences in straightness or smoothness. These findings indicate that increasing weight in reach-to-drink task puts greater constraints on the task. The slower movements with the dominant hand might denote better precision control than the non-dominant hand. The quantitative motion capture results show average values for the kinematic variables for a functional reach-to-drink task in a typically developing population of school-aged children with changing weights of the bottles that are relevant to a real-life scenario. These results could inform the design of individualized therapeutic interventions to improve functional upper-extremity use in children with neurodevelopmental motor disorders.