We present in this paper an innovative approach to introduce STEM topics in the classroom through the context of the Solar System. Our pedagogical tool consists in a Human Orrery modeling at a human scale the Solar System dynamics. While learners walk along planetary orbits, they enact different mathematical and scientific notions. Previous experimentations were centered on science concepts and have shown an enhanced motivation and well-being and a better understanding. We discuss here the connection with the cognitive science theory of enactivism and with the activity theory, both already used in the field of mathematics education. New pedagogical sequences are proposed that deeply combine mathematics and science contents. Those will be set up in a classroom context before the CERME conference.