In this paper we present a method for dynamically interpolating the motion of a rigid body in space between known end-positions. We begin by creating an image space representation of the equations of motion for a rigid body. These equations are written as a system of first-order state equations whose trajectory is optimized based on the minimization of a certain performance index. This leads to a set of boundary-value equations between the end positions, which when solved give the interpolated motion. Finally, a program developed to perform such interpolations numerically is utilized by generating a trajectory between given terminal states.