This chapter provides an overview of the fascinating realm of interoception, the intricate process by which we perceive and interpret internal bodily sensations. In the following pages, I provide an overview of the ongoing debates regarding how we define and measure interoception, unraveling the challenges inherent in delineating the boundaries of our sensory experiences—how we sense, interpret, and integrate signals from within ourselves and our environment. Moving forward, I outline three prominent measurement models of interoception, critically evaluating their strengths and limitations, and highlighting directions for future conceptualizations. I then overview key measurement paradigms, focusing on cardiac and respiratory tasks as yogic practices commonly draw attention to these sensations. In addition, I provide an overview of six key self-report measures, and discuss the utility of ecological momentary assessment in capturing real-time interoceptive experiences. Finally, I examine the relationship between interoception and yoga, synthesizing clinical and non-clinical research on the intersections between these two fields. I hope this chapter not only broadens your understanding of interoception, but also underscores its significance in the context of yoga and its potential impact on overall well-being.