The interplay between attention, alertness and motor planning is crucial for our manual interactions. To investigate the neural bases of this interaction, and challenging the views that attention cannot be disentangled from motor planning, we instructed human volunteers of both sexes to plan and execute reaching movements while attending to the target, while attending elsewhere, or without constraining attention. We recorded reaction times to reach initiation and pupil diameter and interfered with the functions of the medial posterior parietal cortex (mPPC) with online repetitive transcranial magnetic stimulation to test the causal role of this cortical region in the interplay between spatial attention and reaching. We found that mPPC plays a key role in the spatial association of reach planning and covert attention. Moreover, we have found that alertness, measured by pupil size, is a good predictor of the promptness of reach initiation only if we plan a reach to attended targets, and mPPC is causally involved in this coupling. Different from previous understanding, we suggest that mPPC is neither involved in reach planning per se, nor in sustained covert attention in absence of a reach plan, but it is specifically involved in attention functional to reaching.Significance Statement Attention is required to perform dexterous arm movements. In this work we show the neural bases of the interplay between attention and reaching preparation, with the aim to provide information useful to address effective rehabilitation strategies to treat functional deficits observed in attention-related diseases. We discuss how brain areas are involved in orchestrating attention and reaching by signaling the alignment of their spatial coordinates. Moreover, we found that pupil size changes during reach preparation are related to reach initiation, suggesting a coordination between vigilance and reach promptness when preparing a reach to attended targets.