This study compared performances of timed up and go test subtasks between 40 older people with preserved cognition, 40 with mild cognitive impairment, and 38 with mild Alzheimer’s disease. The assessment consisted of anamneses and timed up and go test subtasks (sit-to-stand, walking forward, turn, walking back, and turn-to-sit). Data were captured by Qualisys Track Manager software and processed by Visual3D software. The MATLAB program was applied to detect and analyze timed up and go test subtasks. All subtasks differentiated people with Alzheimer’s disease and preserved cognition, except the sit-to-stand subtask, which did not distinguish any group. The walking forward subtask differed older people with preserved cognition from mild cognitive impairment, specifically on minimum peak of knee, average value of knee, and hip (pitch axis) during stance phase. The walking back, turn, and turn-to-sit subtasks distinguished subjects with Alzheimer’s disease from mild cognitive impairment. The separated analysis of transition and walking subtasks is important in identifying mobility patterns among cognitive profiles.