Kinetic and spatiotemporal gait analysis provides important information for the treatment and rehabilitation of patients with gait disorders. Although motion analysis laboratories with infrared motion capture cameras and force plates are the gold standard measurement technologies for analysis, they are, in most cases, impractical for community health centers or general clinical settings because of their cost, scale, and usability. This paper presents an accessible gait analysis system that uses simultaneous measurements of instrumented insoles and a laser range sensor (LRS). In the proposed system, GRF and COP are estimated by sensor analysis taken from the insoles. Strides step width, cadence, and walking speed are measured by the LRS. In addition, stance durations including single limb support and double stance are detected at the insoles from accurate measurements of initial and end foot contact time. The GRF estimation method derived from the insole sensors and the integrated system with the LRS have been validated by measuring straight walking and comparing results with data obtained from motion analysis laboratories.