Abstract I argue that Duffley’s sign-based semantics and embodied semantics may be mutually beneficial if we conceive them as a semantic theory and as a foundational theory, respectively. First, I describe embodied semantics as a research program that conceives the foundations of meaning in terms of embodied simulation. Afterwards, I draw attention to three points (the analysis of FOR, verbs of positive and negative recall, and causative verbs) where Duffley’s semantics could find support in such a foundational theory. Finally, I suggest that two pressing challenges currently on the agenda of embodied semantics (abstract language and sentence-level simulations) could be met by Duffley’s theory.