Recent research on proprioception reveals that it relies on a systematically distorted model of bodily dimensions. This generates a puzzle about proprioception in action control: action requires accurate bodily parameters. Proprioception is crucial for ordinary action, but if it relies on a systematically distorted body model, then proprioception should contain systematic errors. But we cannot respond by discarding proprioception from motor control, since we know from the severe problems deafferented agents face in acting that ordinary action requires proprioception. The solution is that the possibility of bodily action is provided for by multimodal body representations for action (the ‘body schema’).