I recently studied a Jason Bourne fight scene in The Bourne Identity to learn all I could about writing a good fight.
I had to begin not with a fully outlined plot, but with a fully-fleshed person.
Have you received feedback saying that your characters feel manipulated by the author? If so, you might have a broken causal chain.
Create a sense of the inevitable.
The inherent rule behind storytelling is to be found in dialectics.
Are you writing adventure fiction? Samuel Delany has suggestions on how to writer more credible main characters.