We see more and more attempts to design for bodily experiences with digital technology, but it is a notably challenging design task. What are the possible bodily experiences we may aim to design for, and how can we characterise them? By analysing a horseback riding experience, we came to identify the following themes: (1) how certain kinds of bodily experiences are best understood through experiencing them yourself – the bodily ways of knowing, (2) how rhythm and balance create for particularly strong physical experiences of this kind, (3) how movement and emotion coincide in these experiences, (4) how the movement between seeing our own bodies as objects vs experiencing in and through our bodies is one of the ways we come to learn the language of expressing and understanding bodily action, and (5) how this in turn lets us describe the sensitive and delicate relationship of wordless signs and signals that represent, in the case described, two bodily agents – a human and a horse. When the human-horse relationship is really successful, it can be described as rare moments of becoming a centaur. We translate these themes into design considerations for bodily interactions.