This paper proposes an empirical hypothesis that in some cases of social interaction we have an immediate perceptual access to others' minds in the perception of their embodied intentionality. Our point of departure is the phenomenological insight that there is an experiential difference in the perception of embodied intentionality and the perception of non-intentionality. The other's embodied intentionality is perceptually given in a way that is different from the givenness of non-intentionality. We claim that the phenomenological difference in the perception of embodied intentionality and non-intentionality translates into an account of how, in some cases of social cognition, we perceive mental properties in the perception of embodied intentionality. The hypothesis derives support from a host of recent empirical studies in social neuroscience which demonstrate the importance of embodied engagements in understanding other minds. These studies reveal that embodied intersubjective interaction often builds on our ability to understand other minds in an immediate perceptual way not adequately investigated by theory-theory (TT) and simulation theories (ST) of mind-reading. We argue that there is a genuine, nontrivial difference in the informational content of the perception of embodied intentionality and the perception of non-intentionality which leads to a further difference in the way information is processed in the case of perception of embodied intentionality as opposed to the perception of non-intentionality. The full significance of such difference is appreciated only within an account of perception which views perception and action as tightly coupled. Thus, we propose an "action-oriented account of social perception" to develop a neurophilosophical account of the perceptual knowledge of other minds.