This work shows the design, implementation and evaluation of a human-robot interaction system where a robot is capable of learning multimodal instructions through gestures and voice issued by a human user. The learning procedure can be performed in two ways: an instruction learning phase, where the human aims at teaching one instruction to the robot by performing several repetitions and an instruction receiving phase where the robot reacts to the instructions given by the human and possibly asks for feedback from the user to strengthen the instruction’s model.