Facilitating forward movement while maintaining dynamic stability during transitions like sit-to-walk (STW) requires coordination from many muscles. Age-related muscle, sensory, and neural decline can introduce compensatory biomechanics when completing STW, such as adjusting initial foot position or rising with arm support. Many previous STW studies restrict arm movement and prescribe symmetric foot positions, therefore the purpose of this study was to quantify lower limb muscle excitations and joint moments in STW transitions from four initial foot positions [symmetric, posterior offset, wide, narrow] and two arm placements [hands on knees, arms folded] in 15 younger and 15 older adults. Peak knee and ankle joint extension moments, as well as peak electromyography of five bilateral lower-limb muscles were analyzed. In all conditions, older adults had larger knee extension moments, whereas younger adults had larger ankle plantarflexion moments. Older adults generated larger peak excitation from the knee extensor muscles during rising compared to younger adults, consistent with the higher knee extension moments. Older adults had greater peak dorsiflexor and plantarflexor muscle excitation while rising compared to younger adults. Posterior offset and wide foot positions required the largest peak ankle plantarflexion and knee extension moments and plantarflexor muscle excitation. Arm-supported rising decreased peak knee extensor muscle excitation. In addition, there were interaction effects between age and initial foot position/arm placement for multiple quantities, indicating that the effects of foot and arm placement vary with age. These results inform assessments of movement performance and guidelines for rising given individual lower limb capability.