According to attachment theory, the self develops in caregiver-infants interactions: more sensitive caregivers raise children with a more coherent self (Sroufe, 1994). Recent accounts emphasize embodied caregiver-infant interactions, especially tactile and contingent interactions (Fotopoulou & Tsakiris,2017). In the current study, we measured the detection of contingent in multisensory bodily signals, an important aspect of self-perception (de Clerk, Fillipetti, & Rigato, 2021), in 51 5-month-old infants. We used a sequential looking preference paradigm with concurrent fNIRS-measurement covering tempo-parietal areas, similar to Fillipetti et al. (2015). Infants saw 15 s-long videos of their own face being stroked by a brush, that was either live (contingent) or delayed by 3 s (non-contingent). Maternal contingency, touch frequency and sensitivity were observed in mother-infant interactions. There was no significant looking preference and no maternal characteristics predicted the difference in looking behavior to both conditions. Within a region of interest (ROI) located over the right posterior temporal sulcus, infants showed more HbO-activity to the non-contingent display (M_contingent = -0.05 μV, M_{non-contingent} = 0.09 μV, p = .03). The difference in activation to both condition in this ROI was significantly predicted by maternal sensitivity (ß = -0.15, p = .01) and touch (ß = -0.52, p = .02). More of these maternal characteristics, however, led to less neural differentiation. Although these findings show that mother-infant interaction plays a crucial role in self-development, at least at an early age it seems to hinder self-development, potentially indicating self-other overlap between mother and infant.