Psoas major 
    
 
    Superior Attachment: Transverse processes of lumbar vertebrae; sides of bodies of T12-L5 vertebrae and intervening intervertebral discs 
    
 
    Inferior Attachment: By a strong tendon to lesser trochanter of femur 
    
 
    Innervation: Anterior rami of lumbar nerves L1, L2, L3 
    
 
    Main Action(s): Acting inferiorly with iliacus, it flexes thigh; acting superiorly it flexes vertebral column laterally; it is used to balance the trunk; when sitting it acts inferiorly with iliacus to flex trunk