This article explores how the felt sense of touch, as engaged through the enabling constraints of the Argentine tango duet, can facilitate an experience of kinaesthetic listening in the spaces emerging between the dancer’s inside and outside worlds. The author’s habitual perception of giving and receiving touch as a tango dancer is destabilized by framing a series of somatic experiences in settings where customary tango conditions and assumptions do not apply. This involves experimenting with methods and tools of inquiry borrowed from contact and contemporary dance improvisation. The article argues that when practiced as a form of kinaesthetic listening, tango is conducive to a process of sensing and feeling together. In this process, it becomes possible to be touched both physically and affectively by the movement impulses negotiated between the partners. This possibility unsettles the reductive idea of one’s body as a separate entity preceding the encounter.