The notion of introspection is unparsimonious and unnecessary to explain the experiential grounding of our mentalistic concepts. Instead, we can look at subtle proprioceptive experiences, such as the experience of agency in planning motor acts, which may be explained in part by the phenomenon of collateral discharge or efference copy. Proprioceptive sensations experienced during perceptual and motor activity may account for everything that has traditionally been attributed to a special mental activity called “introspection.”