As already noted, you may need to change the AF settings to AI SERVO. You should have a AF button on the back of the camera, pressing it will cycle through the AF settings.
A quick explanation of AI SERVO from Wiki
AI servo is an auto focus mode found on Canon SLR cameras, although the same principle is used with Nikon cameras, known as "continuous focus".[10] Also referred to as focus tracking, it is used to track a subject as it moves around the frame, or toward and away from the camera. When in use, the lens will constantly maintain its focus on the subject, hence it is commonly used for sports and action photography. AI refers to artificial intelligence: algorithms that constantly predict where a subject is about to be based on its speed and acceleration data from the autofocus sensor.