Interoception describes the processing and awareness of bodily signals arising from visceral organs, essential for the organism’s homeostatic needs. Beyond homeostasis, the integration of exteroceptive and interoceptive signals is required for the coherence of bodily self-awareness. Here we suggest that interoception also plays a critical role in social cognition. Relating to others as individuals who are distinct from one’s self requires the simultaneous yet distinct co-representation of self and others. We propose that interoceptive awareness appears to stabilise the mental representation of one’s self as distinct from others. A more nuanced understanding of the role of interoception in the representation of others in relation to ourselves is vital to determine its importance in social cognition.