In this paper, I suggest that some tales (or narratives) developed in the literature of embodied and radical embodied cognitive science can contribute to the solution of two longstanding issues in the cognitive neuroscience of perception and action. The two issues are (i) the fundamental problem of perception, or how to bridge the gap between sensations and the environment, and (ii) the fundamental problem of motor control, or how to better characterize the relationship between brain activity and behavior. In both (...) cases, I am going to propose that cognitive neuroscience could incorporate embodied insights—coming from the sensorimotor approach to perception and action, and from ecological psychology—to advance the solution for each issue without the need for abandoning or undergoing a substantial revision of its core assumptions. Namely, cognitive neuroscience could incorporate the forgotten tales of embodiment without undergoing through a complete revolution. In this sense, I am proposing not a call but a farewell to arms. (shrink)