Numerous studies have highlighted a strong relationship between language and sensorimotor processes, showing, for example, that perceiving an action influences subsequent language processing. Moreover, previous studies have demonstrated that the context in which actions are perceived is crucial to enable this action-language relationship. In particular, action verb processing is facilitated when an action is perceived in its usual context (e.g., someone watering a plant) but not in an unusual context (e.g., someone watering a computer). This difference could be explained in terms of experience; because people always practice actions in accordance with the context, they have no (visual or motor) experience related to the unusual context. The aim of the present study was to test this assumption by assessing and comparing the effect of physical practice and observational learning on the action-language relationship. The results of two experiments showed a facilitation effect of both training methods. Whereas usual actions systematically prime action verb processing, the link between action and language appears for unusual actions only after training by practicing (experiment 1, physical practice) or observing (experiment 2, observational learning). Overall, these findings support the role of experience in the activation of sensorimotor representations during action verb processing.