We are able to temporally organize multiple movements in a purposeful manner in everyday life. Both the dorsal premotor (PMd) and pre-supplementary motor areas (pre-SMA) are known to be involved in the performance of motor sequences. However, it is unclear how each area differentially contributes to controlling multiple motor sequences. To address this issue, we recorded single-unit activity in both areas while monkeys (one male, one female) performed sixteen motor sequences. Each sequence comprised either a series of two identical movements (repetitive) or two different movements (non-repetitive). The sequence was initially instructed with visual signals but had to be remembered thereafter. Here we showed that the activity of single neurons in both areas transitioned from reactive- to predictive encoding while motor sequences were memorized. In the memory-guided trials, in particular, the activity of PMd cells preferentially represented the second movement in the sequence leading to a reward generally irr...