Proxemics and neuro-cognitive literatures have suggested a close relationship between social and action functions of near-body space. Here we asked whether interpersonal-social (comfort distance) and peripersonal-action (reachability-distance) are similarly sensitive to social aspects. In an Immersive Virtual Reality (IVR) study (Exp. 1), participants determined reachability and comfort distances from virtual male/female children, young/old adults while standing still (passive) or approaching them (active). Exp. 2 assessed the ecological validity of the IVR-study by replicating real participant-confederate interactions. Exp. 3 used a paper-and-pencil proxemics measure to investigate spatial behaviors for practical/clinical purposes. Results showed that reachability and comfort distances were similar in active but not passive, conditions. Both distances were modulated by gender (reduction with females; expansion with males) and age (expansion with adults; reduction with children). These results were consistent among the three approaches. Therefore, interpersonal and peripersonal spaces share a common motor nature and are similarly sensitive to social aspects.