Peripersonal space—the region immediately surrounding the body—has traditionally been conceived as a multisensory buffer supporting the control of goal-directed actions toward actionable objects. Recent advances, however, reveal its highly dynamic and adaptive nature, particularly in social contexts. I will argue that peripersonal space also plays a fundamental role in shaping social interaction, providing the bodily framework through which individuals regulate interpersonal distance, coordinate engagement, and adjust relational dynamics. Specifically, I will present a model that links peripersonal space representation with social space adjustment, highlighting the modulatory influence of emotional context. This framework will be further examined in relation to neuropathological conditions, where alterations in processing social cues may disrupt the alignment between peripersonal and social spaces.