In this paper, I explore the notion of sensorimotor event as the building block of sensorimotor cognition. A sensorimotor event is presented here as a neurally controlled event that recruits those processes and elements that are necessary to address the demands of the situation in which the individual is involved. The notion of sensorimotor event is intended to subsume the dynamic, embodied, and embedded nature of sensorimotor cognition, in agreement with the satisficing and bricoleur approach to sensorimotor cognition presented elsewhere (Vilarroya, 2012). In particular, the notion of sensorimotor event encompasses those relevant neural processes, but also those bodily and environmental elements, that are necessary to deal with the situation in which the individual is involved. This continuum of neural processes as well as bodily and environmental elements can be characterized, and this characterization is considered the basis for the identification of the particular sensorimotor event. Among other consequences, the notion of sensorimotor event suggests a different approach to the classical account of sensory-input mapping onto a motor output. Instead of characterizing how a neural system responds to an external input, the idea defended here is to characterize how system-in-an-environment responds to its antecedent situation.