Our ability to return to the start of a route recently performed in darkness is thought to reflect path integration of motion-related information. Here we provide evidence that motion-related interoceptive representations (proprioceptive, vestibular, and motor efference copy) combine with visual representations to form a single multimodal representation guiding navigation. We used immersive virtual reality to decouple visual input from motion-related interoception by manipulating the rotation or translation gain of the visual projection. First, participants walked an outbound path with both visual and interoceptive input, and returned to the start in darkness, demonstrating the influences of both visual and interoceptive information in a virtual reality environment. Next, participants adapted to visual rotation gains in the virtual environment, and then performed the path integration task entirely in darkness. Our findings were accurately predicted by a quantitative model in which visual and interoceptive inputs combine into a single multimodal representation guiding navigation, and are incompatible with a model of separate visual and interoceptive influences on action (in which path integration in darkness must rely solely on interoceptive representations). Overall, our findings suggest that a combined multimodal representation guides large-scale navigation, consistent with a role for visual imagery or a cognitive map.H ow do we find our way in darkness? To answer demands that we identify the internal representations used to guide navigation. Some claim that spatial navigation depends on a coherent multimodal mental model or cognitive map (1-5). Others suggest that such representations do not exist and have been incorrectly inferred from the presence of simpler navigational mechanisms (6-9). One such mechanism is path integration, i.e., the ability to return to the start of a recently walked path by using internal motion-related information, such as proprioceptive and vestibular representations and motor efference copy (referred to hereafter as interoception), which are produced during the outbound path (10-18). Although path integration is primarily thought to depend on interoceptive information, visual information can be used intermittently to prevent the accumulation of error, if available (4,10,12,19).We asked whether path integration tasks show evidence of a coherent multimodal representation, or whether they reflect separate processes of interoceptive path integration and intermittent use of vision. Our starting point was studies showing that walking on a treadmill in illuminated conditions can affect one's subsequent perception of the translational and rotational speed of walking in darkness (20-23). These studies indicate that control of walking reflects tight coupling between visual and vestibular representations on the one hand and motoric and proprioceptive representations on the other, such that altering the correspondence between these two sets of representations has long-lasting consequences (22,2...