The comparative approach is a crucial method to gain a better understanding of the behavior of living human and nonhuman animals to then draw informed inferences about the behavior of extinct ancestors. One focus has been on disentangling the puzzle of language evolution. Traditionally, studies have predominantly focused on intentionally produced signals in communicative interactions. However, in collaborative and highly dynamic interactions such as play, underlying intentionality is difficult to assess and often interactions are negotiated via body movements rather than signals. This “lack” of signals has led to this dynamic context being widely ignored in comparative studies. The aim of this paper is threefold: First, we will show how comparative research into communication can benefit from taking the intentionality-agnostic standpoint used in conversation analysis. Second, we will introduce the concepts of ‘intercorporeality’ and ‘bodily affordance’, and show how they can be applied to the analysis of communicative interactions of nonhuman animals. Third, we will use these concepts to investigate how chimpanzees (Pan troglodytes) initiate, end, and maintain ‘contact social play’. Our results showed that bodily affordances are able to capture elements of interactions that more traditional approaches failed to describe. Participants made use of bodily affordances to achieve coordinated engagement in contact social play. Additionally, these interactions could display a sequential organization by which one ‘move’ by a chimpanzee was responded to with an aligning ‘move’, which allowed for the co-construction of the activity underway. Overall, the present approach innovates on three fronts: First, it allows for the analysis of interactions that are often ignored because they do not fulfil criteria of intentionality, and/or consist of purely body movements. Second, adopting concepts from research on human interaction enables a better comparison of communicative interactions in other animal species without a too narrow focus on intentional signaling only. Third, adopting a stance from interaction research that highlights how practical action can also be communicative, our results show that chimpanzees can communicate through their embodied actions as well as through signaling. With this first step, we hope to inspire new research into dynamic day-to-day interactions involving both “traditional” signals and embodied actions, which, in turn, can provide insights into evolutionary precursors of human language.