The somatomotor system is organized in a 3-tier hierarchical system, with the highest level in the cerebral cortex, middle level in subcortical structures like the basal ganglia and cerebellum, and lowest level in the spinal cord and brainstem. The motor cortex plans voluntary movements and issues commands to the spinal cord via pyramidal tracts. Basal ganglia and cerebellum help coordinate skilled movements and maintain posture and tone. Spinal motor neurons innervate skeletal muscles to enable movement. Proprioceptive feedback integrates signals across these levels of the motor system.