Action control requires precisely and flexibly linking sensory input and motor output. This is true for both, visuo-motor and somatosensory-motor integration. However, while perception–action integration has been extensively investigated for the visual modality, data on how somatosensory and action-related information is associated are scarce. We use the Theory of Event Coding (TEC) as a framework to investigate perception–action integration in the somatosensory-motor domain. Based on studies examining the neural mechanisms underlying stimulus–response binding in the visuo-motor domain, the current study investigates binding mechanisms in the somatosensory-motor domain using EEG signal decomposition and source localization analyses. The present study clearly demonstrates binding between somatosensory stimulus and response features. Importantly, repetition benefits but no repetition costs are evident in the somatosensory modality, which differs from findings in the visual domain. EEG signal decomposition indicates that response selection mechanisms, rather than stimulus-related processes, account for the behavioral binding effects. This modulation is associated with activation differences in the left superior parietal cortex (BA 7), an important relay of sensorimotor integration.