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From the very beginning of life, the fetus and, later, the infant are exposed to sensorial flows. The organism, through sensorial receptors, is built to treat it and use this treatment to develop perceptual competencies, thus organizing the fetus' sensorimotor development. However, for some children, sensorial irritabilities could impede or limit this process. The infant may have difficulty developing body awareness and all the related embodied agentivity mechanisms. For these children, their human environment attunement will help to develop tonico-emotional regulation supporting the infant’s efforts to find comfort and reassurance. The early identification of these difficulties should occupy a central position to support the concerned families in the earliest months of life.