Humanoid robots have been fascinating people ever since the invention of robots. Kinematics of a robot arm deals with the geometry of motion with respect to fixed reference coordinate system without regard to the effect of forces. This paper aims to derive the forward kinematic (FK) equations by two techniques and solve the inverse kinematic (IK) equations of 7 DOF of humanoid robot arm. Denavit and Hartenberg (D-H) introduced a matrix representation of a link in order to describe the spatial geometry of a robotic manipulator. Because of this representation, one can easily understand the kinematics of robot arm. This work aims to implement D-H parameters of 7 DOF humanoid arm. The inverse Kinematics problem and obtaining its solution is one of the most important problems in robotics. It is quite complex, due to its non-linear formulations and having multiple solutions. The forward kinematics of 7DOF is calculated using the derived equations and compared with that obtained using roboanalyzer software and Peter Croke robotic MATLAB toolbox. The IK is obtained by iterative technique using newton raphason method.