We spend much of our life predicting the future. This involves developing theories and making predictions about others’ intentions, goals and about the consequences of the actions we are observing. Adapting our actions and behaviours to the environment is required for achieving our goals, and to do this the motor system relies on input from sensory modalities. However, recent theories suggest that the link between motor and perceptual areas is bidirectional, and that predictions based on planned or intended actions can unconsciously influence and modify our perception. In the following review we describe current theories on the link between action and perception, and examine the ways in which the motor system can unconsciously alter our perception.