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Recent studies have highlighted that the observation of hand-object interactions can influence perceptual weight judgments made by an observer. Moreover, observing salient motor errors during object lifting allows individuals to update their internal sensorimotor representation about object weight. Embodying observed visuomotor cues for the planning of a motor command further enables individuals to accurately scale their fingertip forces when subsequently lifting the same object. However, it is still unknown whether the observation of a skilled lift is equally able to mediate predictive motor control in the observer. Here, we tested this hypothesis by asking participants to grasp and lift a manipulandum after observing an actor’s lift. The object weight changed unpredictably (light or heavy) every fourth to sixth trial performed by the actor. Participants were informed that they would always lift the same weight as the actor and that, based on the experimental condition, they would have to observe skilled or erroneously performed lifts. Our results revealed that the observation of both skilled and erroneously performed lifts allows participants to update their internal sensorimotor object representation, in turn enabling them to predict force scaling accurately. These findings suggest that the observation of salient motor errors, as well as subtle features of skilled motor performance, are embodied in the observer’s motor repertoire and can drive changes in predictive motor control.