Guided parafoils are comprised of two primary bodies, a payload and parafoil. While the parafoil generates the majority of aerodynamic loads, the sensor systems used for guidance are located away from the parafoil near the payload. Using Newtonian dynamics, models ranging from six to nine degrees-of-freedom were developed in parallel. For the first time, miniature wireless sensors were developed to investigate the canopy and payload during flight and to directly measure the parafoil-payload relative motion to verify the models. Experimental data was compared to models to investigate and determine system configuration dynamics that could affect the parafoil control system and its corresponding degree-of-freedom model. In addition, classical flight modes similar to those in aircraft flight dynamics were developed for the conventional rigid parafoil-payload system for the first time which include short period and phugoid longitudinal modes and roll subsidence, spiral, and dutch roll lateral modes. Similar linearization of a seven degree-of-freedom model was shown to have an additional lightly damped lateral payload mode.