Gravity is a fundamental force of nature, to which all biological systems, including human bodies, must adapt to survive. Maintaining bodily and behavioural integrity in the vertical spatial dimension whilst under continuous perturbation from gravity is a universal task for all living systems. However, gravity adaptation in human embodiment in utero and beyond is often overlooked. This paper suggests that prenatal buoyancy (i.e. adaptation to fluid medium) provides foundational set-points for antigravity homeostatic self-regulatory processes in humans. The concepts of homeostasis and allostasis are central to understanding biological self-organisation and adaptivity to the external environment. Organisms must maintain essential variables within certain bounds or ‘set-points’ in order to self-maintain and survive, despite ambient variation and entropic pressures. We propose a novel characterisation of antigravity adaptation as a core homeostatic drive, analogous to body temperature regulation. This proposal is based on a reconceptualization of self-regulation in relation to gravity constraints as a problem of density/buoyancy, not just mass/weight as it is typically considered. Specifically, we suggest a hypothetical foundational set-point for gravity homeostasis in prenatal neutral buoyancy via suspension of the foetus in amniotic fluid. Our proposal provides a principled route to naturalise the strong links between antigravity adaptation and emotionally valenced perceptions as expressions of satisfying core bodily needs. By highlighting the role of prenatal buoyancy in scaffolding self-regulatory processes in development, this paper aims to pave the way towards more accurate picture of how key developmental stages of human embodiment unfold across the sensorimotor lifespan.