Use the adjective graceful to describe movements that are lovely and elegant. If you watch a yoga class, you'll see a variety of styles, ranging from awkward to graceful.
Were some people born graceful? From their elegant way they move to their great timing and well-chosen words, being graceful does seem to come naturally to some. For others, it comes with practice and being focused. For example, the discipline of ballet makes dancers graceful — even when reaching for something on a high shelf at the grocery store.