A direct relationship between perception and action implies bi-directionality, and predicts not only effects of perception on action but also effects of action on perception. Modern theories of social cognition have intensively examined the relation from perception to action and propose that mirroring the observed actions of others underlies action understanding. Here, we suggest that this view is incomplete, as it neglects the perspective of the actor. We will review empirical evidence showing the effects of self-generated action on perceptual judgments. We propose that producing action might prime perception in a way that observers are selectively sensitive to related or similar actions of conspecifics. Therefore, perceptual resonance, not motor resonance, might be decisive for grounding sympathy and empathy and, thus, successful social interactions.