Anticipation is a hallmark of skilled movements. For example, when removing plates from a loaded tray, the upward force generated by the supporting hand is reduced in anticipation of the reduced load. An adjustment of the postural force occurs as a result of the predicted consequences of the self-initiated action. Although the effect of anticipatory processes is easily discerned in the actions themselves, it is unclear whether these processes also affect our perceptual experience. In this chapter we focus on the relationship between action and the perceptual experience. We begin by reviewing how actions provide reliable predictions of forthcoming sensory information. Following this, we discuss how the anticipation of the time of external events is an important component of action-linked expectations. Finally, we report two experiments that examine how temporal predictions are integrated with the incoming sensory information, evaluating whether this integration occurs in a statistically optimal manner. This predictive process provides the important advantage of compensating for lags in conduction time between peripheral input and the central integration of this information, thus overcoming the physical limitations of sensory channels.