Our physical bodies play a central role in shaping human experience in the world, understanding of the world, and interactions in the world. This paper draws on theories of embodiment - from psychology, sociology, and philosophy - synthesizing five themes we believe are particularly salient for interaction design: thinking through doing, performance, visibility, risk, and thick practice. We introduce aspects of human embodied engagement in the world with the goal of inspiring new interaction design approaches and evaluations that better integrate the physical and computational worlds.