Successful performance of a goal-directed action requires correct mapping between the performed action, and its expected consequences in the environment. However, this mapping is non-trivial given that depending on context, similar actions (and corresponding motor commands) can result in different outcomes, and similar outcomes can be achieved by completely different actions. In my talk I will describe behavioral and neuroimaging data demonstrating bi-directional interactions by which actions shape our perception, and how expected sensory consequences shape the kinetics of the triggering action. Finally, I will discuss how such results may hold clinical relevance for harnessing the motor system for perceptual rehabilitation.