Some children actually have a problem "crossing the midline" of their bodies (an imaginary line down the center of the body from head to toe). They cannot reach across their body with their right hand to pick up an object that is on their left, or vice versa. They get "stuck" in mid reach & will have to switch hands. This can also apply to the legs, but is more noticeable with the hands/arms. Not being able to cross the midline may affect a child's ability to read, write, participate in sports & physical activities, etc.
As the previous poster noted, this all has to do with "brain programming", etc. Brain Gym exercises that involve crossing over to touch the opposing shoulder, elbow, knee, toe, heel, etc. can help "program " the brain to do this. You may have to physically assist the child to make the movements across the midline.
If the child is very young, you can try table exercises to cross the midline. While sitting at a table, have them pick up a marker, toy, cheerio, etc. that is placed on their right, but gently restrain the child's right arm and make them use their left. If the item they are reaching for is an item of great interest (favorite toy or treat), they will make a greater effort to get it. Again, you may have to physically assist the child to move the arm across the midline.
Another suggestion is drawing large lazy figure eights (the infinity sign, or an 8 laying down). This can be done on a chalk board, in the air or on large piece of paper. I have also had my students walk along a figure 8 I drew on the carpet. It was interesting to see them stop at the crossing point and turn right & walk a circle instead of crossing the line!