I develop a theory of action inspired by a Heideggerian conception of concern, in particular for phenomenologically-inspired Embodied Cognition (Noë 2004; Wheeler 2008; Rietveld 2008; Chemero 2009; Rietveld and Kiverstein 2014). I proceed in three steps. First, I provide an analysis that identifies four central aspects of action and show that phenomenologically-inspired Embodied Cognition does not adequately account for them. Second, I provide a descriptive phenomenological analysis of everyday action and show that concern is the best candidate for an explanation (...) of action. Third, I show that concern, understood as the integration of affect and embodied understanding, allows us to explain the different aspects of action sufficiently. (shrink)