Interoception--the ability to perceive and respond to internal bodily sensations--is fundamental for the continuous regulation of physiological processes. Recently, it has been suggested that because infants depend completely on their caregivers for survival, the development of interoceptive processing emerges as a result of early dyadic interactions, and relies on caregivers' ability to respond to and meet infants' physiological needs. In this article, I examine how both caregivers' and infants' own characteristics contribute to the emergence and development of infants' interoceptive processing. In particular, by focusing on feeding interactions, I suggest that infants build expectations about the cause of their internal sensations via a dynamic process of interoceptive distinction between self and other. This developmental account provides a framework that considers the complexity of early dyadic exchanges, and offers novel hypotheses for research investigating the mechanisms involved in the ontogeny of interoceptive processing and eating behaviors.