The basic principles of sensory and motor integration in the development of children are considered in the article. The principle of classification is described as the basic initial position of sensory and motor integration. This is principle is based on meaning extraction and classification of continuous information flow. The particular qualities of sensory and motor integration and Ayres’s sensory integration are analyzed in the article. The theoretical justification is made in this work, where main idea is the connection of theoretical reviews and experimental data of area of sensory and motor interaction. The allocations of main stages of cognition of environment through movement are described in this article.