This article describes a neurobiological basis for the “first attachment” of the primate infant to its caretaker. The infant normally internalizes a neurobiological “image” of the behavioral and emotional characteristics of its caregiver that later regulates important features of its brain function. Current models of sensorimotor analysis and its relation to emotion suggest that sensorimotor systems are also habit and memory systems, their functional status and lability regulated in part by biogenic amine systems. The intertwined development of neural and social functions can sometimes go awry. If the attachment process fails or the caregiver is incompetent, the infant may become socially dysfunctional. This helps explain the developmental psychopathology and later vulnerability to adult psychopathology that result from disruptions of social attachment.