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After defining the notions of intersubjectivity and empathy, the author, considering the work of psychoanalysts and development psychologists, looks deeper into these notions which have gained renewed interest since the discovery of mirror neurons and the study of imitation phenomena. The structural conception based on experience and the identification with the other in the mirror, a rather static conception, has been followed up today with a dynamic conception based on a temporal and rhythmical evolution of the interactive relationship voluntarily compared to dance or music. The way in which the conception of psychotherapy has impacted and the trends possible are evoked in conclusion.