Philosophers and cognitive scientists have been debating about the nature of practical knowledge in skilled action. A big challenge is that of establishing whether and how practical knowledge (knowledge-how) is influenced by, or related to propositional knowledge (knowledge-that). This becomes even more challenging when trying to understand how propositional and motor representations may cooperate in making action performance flexible, while also remaining rational. In this paper, we offer an account that explains how practical knowledge leads to the execution of our (...) actions in a way that accounts for its relation to propositional knowledge, and with respect to the possibility of granting flexibility and rationality. (shrink)