Plants characterized by a soft or weak steam, such as climbing plants, need to find a potential support (e.g., wooden trunk) to reach greater light exposure. Since Darwin’s research on climbing plants, several studies on their searching and attachment behaviors have demonstrated their unique ability to process different support features to modulate their movements accordingly. Nevertheless, the strategies underlying this ability are yet to be uncovered. The present research tries to fill this gap by investigating how the interaction between above- (i.e., stem, tendril, …) and belowground (i.e., the root system) plant organs influence the kinematics of the approach-to-grasp movement. With three-dimensional (3D) kinematical analysis, we characterized the movement of pea plants (Pisum sativum L.) towards a support with different thicknesses above and belowground (i.e., thin below, thick aboveground, or the opposite). As a control condition, the plants were presented to supports with the same thickness below- and aboveground (i.e., either entirely thin or thick). The results suggest an integration between the information from below- and aboveground for driving the reach-to-grasp behavior of the aerial plant organs. Information about the support conveyed by the root system seems particularly important to fulfil the end-goal of the movement.