In this article we examine how contingency and synchrony during infant-caregiver interaction helps children to learn to pay attention to objects; and how this, in turn, affects their ability to direct caregivers’ attention, and to track communicative intentions in others. First, we present evidence that, early in life, child-caregiver interactions are asymmetric. Caregivers dynamically and contingently adapt to their child more than the other way around, providing higher-order semantic and contextual cues during attention episodes which facilitate the development of specialised and integrated attentional brain networks in the infant brain. Then, we describe how social contingency also facilitates the child’s development of predictive models; and, through that, goal-directed behaviour. Finally, we discuss how contingency and synchrony of brain and behaviour can drive children's ability to direct their caregivers’ attention voluntarily; and how this, in turn, paves the way for intentional communication.