The motion planning problem is of central importance to the fields of robotics, spatial planning, and automated design. An implemented algorithm is presented for the 'classical' formulation of the three-dimensional Movers' problem: Given an arbitrary rigid polyhedral moving object 'p' with three translational and three rotational degrees of freedom, find a continuous, collision free path taking 'p' from some initial configuration to a desired goal configuration. This thesis describes the first known implementation of a complete algorithm (at a given resolution) for the full six degree of freedom Movers' problem. The algorithm transforms the six degree of freedom planning problem into a point navigation problem in a six-dimensional configuration space (called C-Space). The C-Space obstacles, which characterize the physically unachievable configurations, are directly represented by six-dimensional manifolds whose boundaries are five dimensional C-surfaces. By characterizing these surfaces and their intersection collision-free paths may be found by the closure of three operators which (i) slide along 5-dimensional level C-surfaces parallel to C-Space obstacles; (ii) slide along 1- to 4-dimensional intersections of level C-surfaces; and (iii) jump between 6-dimensional obstacles.