Abstract: A method and apparatus for automatically positioning a milking cluster at a preselected milking position is provided. A milking cluster is connected to a moveable cylinder which may be retracted at the conclusion of milking. Prior to milking, the moveable cylinder shifts into engagement with a sensor at a location corresponding to the preselected milking position. The movement of the cylinder is halted to locate and maintain the milking cluster at a height predetermined to be generally appropriate for the animals in the herd. The cylinder is counterbalanced to remain at the preselected height, or may be manually adjusted and remain counterbalanced at the adjusted height. At the conclusion of milking, the milking cluster may drop from the animal and cylinder retracted to a retracted position. The apparatus of the invention includes an arm connected to a milking cluster and a moveable member such as a pneumatic cylinder.