Ensemble musicians typically exchange visual cues to coordinate piece entrances. “Cueing-in” gestures indicate when to begin playing and at what tempo. This study investigated how timing information is encoded in musicians’ cueing-in gestures. Gesture acceleration patterns were expected to indicate beat position, while gesture periodicity, duration, and peak gesture velocity were expected to indicate tempo. Same-instrument ensembles (e.g., piano–piano) were expected to synchronize more successfully than mixed-instrument ensembles (e.g., piano–violin). Duos performed short passages as their head and (for violinists) bowing hand movements were tracked with accelerometers and Kinect sensors. Performers alternated between leader/follower roles; leaders heard a tempo via headphones and cued their partner in nonverbally. Violin duos synchronized more successfully than either piano duos or piano–violin duos, possibly because violinists were more experienced in ensemble playing than pianists. Peak acceleration indicated beat position in leaders’ head-nodding gestures. Gesture duration and periodicity in leaders’ head and bowing hand gestures indicated tempo. The results show that the spatio-temporal characteristics of cueing-in gestures guide beat perception, enabling synchronization with visual gestures that follow a range of spatial trajectories.