Abstract In this paper, we utilized an array of four high-speed cameras to capture intricate wing kinematics, allowing us to calculate flapping amplitudes, frequencies, wingtip velocities, the ratio of upstroke to downstroke duration, and the angles between the forewings and hindwings. Preliminary analysis revealed that bees typically perform at least 15 wingbeats before taking off, with wing stroke amplitudes exceeding 100 degrees and frequencies within the range of 220 to 260 Hz. Additionally, the maximum angle between the forewings and hindwings generally surpasses 50 degrees. The kinematic parameters of takeoff are distinctive, and the relationships among various kinematic parameters are presented in this paper. Of particular note is the variation in the angle between the forewings and hindwings, which increases and then decreases with changing wingbeat speeds. In addition, we reconstructed the kinematic model of the wing motion for computational fluid dynamics (CFD) simulation, which will further reveal the aerodynamic mechanisms involved.