Interoception refers to the set of physiological and cognitive processes needed to sense, infer, and integrate information that originates from within the body. Crucially, these processes influence how we relate to our environment; that is, responses to external stimuli not only depend on the stimuli’s properties but also on our internal (interoceptive) bodily state at the time the stimuli are processed. In this chapter, we briefly introduce the field of interoception, cluster and revise the evidence for the previous finding, and present a novel approach to advance in this research field, namely active sensing in interoception.