In this chapter, we discuss how perception and action are intimately linked to the processes of exploration and selection. Exploration, which we define as trying several variations of the behavior, and selection, which involves attempting to reproduce the behaviors that work, are essential for learning about the environment, discovering the properties of objects, and for acquiring skills in relation to goals. Exploration and selection happen in the moment and over time as behaviors are repeated, hence leading to their fine-tuning to the goal. We illustrate this time-dependent developmental process using several examples from infants reaching for objects, to discovering object properties, to learning about the functionality of tool use, and even to word learning. As we present those examples, we introduce a more detailed perception-action loop to illustrate those moment-to-moment behaviors and show how they contribute to the acquisition of perceptual, motor, and cognitive skills in infancy.