The YMCA step test uses a prescribed step height which is difficult in a telehealth setting. Examine a modification of the YMCA step test allowing for the use of preexisting in-home objects of variable height as the "step" in a virtual environment. Young healthy participants (n = 40) performed step tests with a small and large object of their choosing within their home in a randomized cross-over study. The stepping frequency was modified for each step height using an established metabolic formula to match estimated exercising VO[subscript 2] of the YMCA step test. Post-exercise self-palpated heart rate from the small (average 101 ± 23 BPM) vs large (103 ± 23 BPM) step tests were correlated (r = 0.865, p < 0.001) with good reliability (ICC = 0.865) and within-participant coefficient of variation of 6.8%. Modifying step frequency to account for the varying heights of objects used as "steps" results in reliable heart rate responses to the YMCA step test.