In this chapter we are presenting an overview on how adaptation of movement and behaviour can favour communication in Human-Robot Interaction (HRI). A model of a communication space based on a action-reaction classification is presented. Past research in HRI is presented for verbal, non-verbal and adaptation of communication. Further, the influence of human aware navigation is discussed and concepts like proxemics, path planing and robot motion are presented. The chapter discusses possible explicated and implicated methods of adaptation as well as it is identifying interruption concepts for communication.