In this opinion paper, we aim to delineate the development of the person–object differentiation in visuomotor behavior as established during the first two years of life, which can be conceived as a precursor for the broader distinction between animate and inanimate entities, which in turn form the basis of the more inclusive biological–nonbiological distinction (Poulin-Dubois, Lepage, & Ferland, 1996). We then discuss embodied sensorimotor simulation, which allows us to use the self as a model for perceiving objects in our environment, as a potential mechanism underlying this distinction.