Living with a congenital brain lesion may have detrimental effects on the ability to do everyday activities, but contrary to acquired brain lesions, people and in particular children, with congenital brain lesions may have limited or no experience of how their bodies work. This absence of experience gives rise to challenges for habilitation of sensorimotor abilities and derived cognitive abilities. How can motor and cognitive abilities be achieved and trained in an individual with no experience of potential abilities? In this article, we aim to review the existing knowledge about the development of sensorimotor integration. Further, we will discuss this knowledge in the light of two neurocognitive theories: embodied cognition and predictive coding. Moreover, using developmental knowledge and theory in combination, we will argue that early sensorimotor development serves as a foundation for later cognitive development. Finally, we try to use these elements in a strategy to make interventions as early as possible, with the purpose of improving sensorimotor and cognitive abilities in children with congenital brain lesions.