Chemero's concept of sensorimotor empathy offers a relevant introduction to the study of human/non-human relationships. This article proposes an empirical characterization of this phenomenon occurring in human–horse interactions through the notion of 'contact', which is a core concept in the technical tradition of the equestrian world. According to the assumptions of 4E cognition, we approach the notion of contact with a broader meaning than how it is usually defined, i.e.as the connection of the rider's hand with the horse's mouth. We state that contact involves the whole body and that it is not a passive touch but a dynamic one. Contact is intersubjective, meaning that its quality depends on the two agents of the interaction: the human and the horse. Within such an interaction, sensorimotor empathy allows the human and the horse to understand through the body and to fine-tune with each other to bring about 'good contact'.