The pace

To pace, a horse moves the legs on the same side at the same time—the two right legs, then the two left legs. Considering arms as forelimbs, this is an awkward gait for people. Try it.

Side view of a horse pacing in mid-stride with both right legs stepping forward
Pace: Two right legs forward
Side view of a horse pacing in mid-stride with both left legs stepping forward
Pace: Two left legs forward

Various animals can pace, including giraffes

Video of giraffe pacing (no audio)