Extremum seeking is a powerful control method to steer a dynamical system to an extremum of a partially unknown function. In this paper, we introduce extremum seeking systems on submanifolds in the Euclidian space. Using a trajectory approximation technique based on Lie brackets, we prove that uniform asymptotic stability of the so-called Lie bracket system on the manifold implies practical uniform asymptotic stability of the corresponding extremum seeking system on the manifold. We illustrate the approach with an example of extremum seeking on a torus. (C) 2014 Elsevier Ltd. All rights reserved.