Somesthesis is the ability to detect internal or external stimuli of mechanical or thermal nature. This relies upon activation of receptors located in skin and deeper tissues such as muscles. Information from the body reaches different somatosensory brain structures, giving rise to tactile, affective, and kinesthetic sensations that guide our interactions with the environment. Although the chapter will refer to tactile and proprioceptive modalities, things are more complicated; all these receptors have several functions. The integration of their input into the somatosensory and motor cortices contributes to the perception of touch and limb movements and positions. Finally, numerous methods of rehabilitation have been proposed based on the activation of touch and proprioceptive receptors, notably in the case of stroke or cerebral palsy.