The present study deals with the influence of specific motor experiences on efficient grasp planning. Forty 5- to 6-year-old children learned to use an unfamiliar tool with either a thumb-up or a thumb-down grip to accomplish a task. Before and after training, the extent to which children would rotate the tool using an awkward initial grip (thumb-down) to ensure a comfortable end-grip (end-state comfort), a pattern that has been interpreted as representing efficient grasping, was measured. The number of thumb-down grips increased only in the group that had trained to use the tool with this specific grip, but did not change after a training with an incongruent thumb-up grip. This demonstrates how the experience with specific tool-use-related grips influences efficient grasping.