This chapter contrasts traditional, disembodied information-processing approaches to intersubjectivity in socio-cognitive research with more recent, embodied approaches. Based on an analysis of the shortcomings of the former, it focuses on the latter, but also clarifies different notions of embodiment and its role in cognition and social interaction. Integrating a broad range of theoretical perspectives and empirical evidence from mainly social psychology, social neuroscience, embodied linguistics and gesture studies, four fundamental functions of the body in social interaction are identified: (1) the body as a social resonance mechanism, (2) the body as a means and end in communication and social interaction, (3) embodied action and gesture as a 'helping hand' in shaping, expressing and sharing thoughts, and (4) the body as a representational device. The theoretical discussions are illustrated with an example from a case study of in-situ embodied social interaction, with a focus on the importance of crossmodal interaction in the process of scaffolding. It is concluded that the body is of crucial importance in understanding social interaction and cognition in general, and in particular the relational nature of mind and intersubjectivity.