For much of the Pliocene and Pleistocene, multiple hominin species coexisted in the same regions of eastern and southern Africa. Due to the limitations of the skeletal fossil record, questions regarding their interspecific interactions remain unanswered. We report the discovery of footprints (~1.5 million years old) from Koobi Fora, Kenya, that provide the first evidence of two different patterns of Pleistocene hominin bipedalism appearing on the same footprint surface. New analyses show that this is observed repeatedly across multiple contemporaneous sites in the eastern Turkana Basin. These data indicate a sympatric relationship between and , suggesting that lake margin habitats were important to both species and highlighting the possible influence of varying levels of coexistence, competition, and niche partitioning in human evolution.