Several applications require that a telepresence system does not only transmit images, audio and video but also real-time motion. This work presents the implementation of a system that allows for telepresence using a humanoid robot and a motion capture device. The proposed methodology for motion imitation is fast and uses a low-cost motion acquisition sensor. The objective is to make the robot reproduce the motion of a person. In this way, remote actions can be executed through the robot sending also images and audio from the environment. The method has been applied to the humanoid robot called NAO, which has been able to reproduce human motions. This framework can also be used for different education purposes.