The aim of the present study was to investigate the role of mental representation processes during the planning, reaching, and use phases of actions with tools commonly used toward the body (TB, e.g., toothbrush) or away from the body (AB, e.g., pencil). In the first session, healthy participants were asked to perform TB (i.e., making circular movements with the toothbrush near the mouth) and AB (i.e., making circular movements with the pencil near the desk) actions both with (i.e., actual use) and without the tool in hand (i.e., the pantomime of tool use). In the second session, the same participants performed a series of mental rotation tasks involving body- (i.e., face and hands) and object-related (i.e., abstract lines) stimuli. The temporal and kinematic analysis of the motor actions showed that the time required to start the pantomimes (i.e., the planning phase) was shorter for the AB action than for the TB action. In contrast, the reaching phase lasted longer for the AB action than for the TB action. Furthermore, the TB pantomime was associated with the performance in the mental rotation of body-related stimuli, especially during the planning and reaching phases, whereas the AB pantomime was more related to the performance in the mental rotation of object-related stimuli, especially during the tool use phase. Thus, the results revealed that the direction of a goal-directed motor action influences the dynamics of the different phases of the motor action and can determine the type of mental images involved in the planning and execution of the action.