The functional roles of interoception or senses that arise from within the body have been thought to guide the agents in adaptive behavior by informing of various bodily states such as a heart rate or energy status. However, direct evidence that the different types of interoception are processed or represented differently in the human brain is still lacking. Here, we directly compared the neural activation for cardiac (awareness related to heartbeats) and gastric (awareness related to stomach) interoception in the same population (N = 31) where the participants were asked to focus on sensations of their heart and stomach in the magnetic resonance imaging scanner. The result showed that neural activation underlying gastric interoception encompassed the sensorimotor and reward-related regions when compared to cardiac interoception, including the occipitotemporal visual cortices, bilateral primary motor cortex, primary somatosensory cortex, left orbitofrontal cortex, and bilateral hippocampal regions. Conversely, cardiac interoception selectively activated the right frontal operculum/insula in contrast to gastric interoception. Moreover, we found that the left dorsal middle insula encoded cardiac and gastric interoception differently but the posterior insula was not by performing multivoxel pattern analysis. Our results demonstrated that cardiac and gastric interoception, different types of bodily awareness, have distinct neural substrates particularly relevant to the functions for each interoception for the first time.