For more than 2000 years Greek philosophers have thought about the puzzling introspectively assessed dichotomy between our physical bodies and our seemingly non-physical minds. How is it that we can think highly abstract thoughts, seemingly fully detached from actual, physical reality? Despite the obvious interactions between mind and body (we get tired, we are hungry, we stay up late despite being tired, etc.), until today it remains puzzling how our mind controls our body, and vice versa, how our body shapes our mind. Despite a big movement towards embodied cognitive science over the last 20 years or so, introductory books with a functional and computational perspective on how human thought and language capabilities may actually have come about – and are coming about over and over again – are missing. This book fills that gap. Starting with a historical background on traditional cognitive science and resulting fundamental challenges that have not been resolved, embodied cognitive science is introduced and its implications for how human minds have come and continue to come into being are detailed. In particular, the book shows that evolution has produced biological bodies that provide “morphologically intelligent” structures, which foster the development of suitable behavioral and cognitive capabilities. While these capabilities can be modified and optimized given positive and negative reward as feedback, to reach abstract cognitive capabilities, evolution has furthermore produced particular anticipatory control-oriented mechanisms, which cause the development of particular types of predictive encodings, modularizations, and abstractions. Coupled with an embodied motivational system, versatile, goal-directed, self-motivated behavior, learning becomes possible. These lines of thought are introduced and detailed from interdisciplinary, evolutionary, ontogenetic, reinforcement learning, and anticipatory predictive encoding perspectives in the first part of the book. A short excursus then provides an introduction to neuroscience, including general knowledge about brain anatomy, and basic neural and brain functionality, as well as the main research methodologies. With reference to this knowledge, the subsequent chapters then focus on how the human brain manages to develop abstract thought and language. Sensory systems, motor systems, and their predictive, control-oriented interactions are detailed from a functional and computational perspective. Bayesian information processing is introduced along these lines as are generative models. Moreover, it is shown how particular modularizations can develop. When control and attention come into play, these structures develop also dependent on the available motor capabilities. Vice versa, the development of more versatile motor capabilities depends on structural development. Event-oriented abstractions enable conceptualizations and behavioral compositions, paving the path towards abstract thought and language. Also evolutionary drives towards social interactions play a crucial role. Based on the developing sensorimotor- and socially-grounded structures, the human mind becomes language ready. The development of language in each human child then further facilitates the self-motivated generation of abstract, compositional, highly flexible thought about the present, past, and future, as well as about others. In conclusion, the book gives an overview over how the human mind comes into being – sketching out a developmental pathway towards the mastery of abstract and reflective thought, while detailing the critical body and neural functionalities, and computational mechanisms, which enable this development.