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There is intense contemporary public as well as professional psychological interest in bodily movement, gesture, and the subjective experience of movement. This has a background in knowledge that movements and the sensing of movements alike express the life of the whole person, whether in the arts, sports, and the pursuit of well-being, or in physiotherapies and psychotherapies of many kinds. The background of the numerous and varied areas of scientific research that contribute to this area has a long history in philosophy and cultural practices as well as in relations between different psychological and physiological topics. The significance of the sense of self-movement, kinesthesia, as opposed to the perception of moving objects, has not until recently been a central focus for research. To explain rising contemporary interest it is necessary to elucidate the usage of current terms—kinesthesia, proprioception, and haptic sense. This in turn leads to discussion of the historical background to modern research on kinesthesia and motor imagery, on phenomenology and sensed movement, on practice centered on kinesthetic appreciation, and on agency. All this is part of the field of inquiry into the psychology of performing and of appreciating dance.