Peripersonal space (PPS) is a dynamic representation of the space around the body subserving primarily the organization of goal-directed behaviours towards stimuli with the highest reward value. It must also be viewed as a space where potentially harmful stimuli receive specific attention in order to protect the body from the hazards ahead. In the present chapter, we will highlight the anticipatory motor nature of PPS representation and its dynamic properties. We will also show that stimuli in PPS receive particular attention that fosters perceptual and cognitive processes. Finally, we will propose that PPS serves as a mediation zone between the body and the environment, protecting the body from external threats and, as such, contributing to the organization of the social life.