Since the discovery of mirror neurons in premotor and parietal areas of the macaque monkey, the idea that action and perception may share the same neural code has been of central interest in social, developmental, and cognitive neurosciences. A fundamental question concerns how a putative human mirror neuron system may be tuned to the motor experiences of the individual. The current study tested the hypothesis that prior motor experience modulated the sensorimotor mu and beta rhythms. Specifically, we hypothesized that these sensorimotor rhythms would be more desynchronized after active motor experience compared to passive observation experience. To test our hypothesis, we collected EEG from adult participants during the observation of a relatively novel action: an experimenter used a claw-like tool to pick up a toy. Prior to EEG collection, we trained one group of adults to perform this action with the tool (performers). A second group comprised trained video coders, who only had experience observing the action (observers). Both the performers and the observers had no prior motor and visual experience with the action. A third group of novices was also tested. Performers exhibited the greatest mu rhythm desynchronization in the 8–13 Hz band, particularly in the right hemisphere compared to observers and novices. This study is the first to contrast active tool-use experience and observation experience in the mu rhythm and to show modulation with relatively shorter amounts of experience than prior mirror neuron expertise studies. These findings are discussed with respect to its broader implication as a neural signature for a mechanism of early social learning.