It is well known that the interaction between two disk galaxies generates tidal spiral arms and a connection in the form of a bridge. Here we address the question of the formation of tidal arms and bridges from a dynamical point of view. We model the bridges and tails observed in interacting galaxies using the invariant manifolds associated to the Lyapunov orbits of the Lagrangian points of the galactic system, when the two galaxies are considered as two point masses in a circular orbit.