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The objective of this thematic issue is to draw a parallel between developmental and comparative perspectives regarding the emergence of nonverbal communication. Bringing together contributions from researchers in developmental psychology, primatology, and comparative psychology, we aim to explore the current state of knowledge on gestural communication, and the pointing gesture in particular, as well as on the socio-cognitive abilities associated with gestures in children and nonhuman primates. This analysis cannot be performed without due attention to the methodological and epistemological questions underlying conclusions about the intentional and referential nature of gestures, thus allowing us to highlight certain continuities between human and nonhuman primates.