The past decade has witnessed a growing interest in the study of the self-other relation; as a result, there has been a convergence of theoretical thought and research in the cognitive sciences, social cognition, and the neurosciences. At the moment, probably under the impact of recent mirror neurons findings, one notices a gradual but significant coming together of disciplines whose research tradition used to be grounded in areas often far apart from each other. In particular, it may legitimately be claimed that, albeit from different perspectives, the study of inter-subjectivity has laid the foundations for a constructive dialogue between these disciplines generating a common ground for the study of interpersonal relations. The present contribution aims to show that, if we take this stance, some concepts close to the situated cognitive sciences, such as embodied cognition and enaction, become neurobiologically plausible in research on mirror neurons, and manage to shed new light on what social cognition has known for some time on the relation between human beings.