--- - |2 Imitation research has focused on turn‐taking contexts in which one person acts and one person then copies that action. However, people also imitate when engaging in joint actions, where two or more people coordinate their actions in space and time in order to achieve a shared goal. We discuss how the various constraints imposed by joint action modulate imitation, and the close links between perception and action that form the basis of this phenomenon. We also explore how understanding imitation in the context of joint action yields new insights into cultural phenomena such as teaching and innovation. - Mind & Language, Volume 33, Issue 4, Page 342-354, September 2018.