This chapter centers on another claim made by Costello in her praise of poetry: that the understanding of the animal other needs to be embodied and not abstract. This claim informs important trends in contemporary animal ethics, which look back at Merleau-Ponty’s phenomenology of embodiment to support it, so the chapter proposes first a summary of Merleau-Ponty theses and adds to them some ethical claims. The question of embodiment, however, is accompanied by the differences that inhere to different forms of embodiment, so the chapter looks at the links between animality and disability and the problems they generate in the contemporary debate. This analysis leads to acknowledge the limits of any epistemology and ethics based on embodiment.