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Embodied cognition provides a framework for the development of research based on the idea that cognition is first and foremost registered in the body. While this trend marks a break with the traditional cognitivist conception, it can be seen as a revival of conceptions already present in certain developmental theories, in particular Wallon’s. The embodied cognition movement is based on a large body of neurophysiological and behavioural data collected mainly from adults but also children. In recent years, dance has been used as a special tool to study several central questions raised by the embodied cognition perspective. In this article, we present several of them: the action-perception loop and the role of bodily experience in perception, the aesthetic appreciation of dance and the social dimension in relation to synchronization. Finally, we look at the contributions of embodied cognition in the use of dance as a pedagogical or therapeutic medium.