Embodied cognition has a relatively short history. Its intellectual roots date back to early 20th century philosophers Martin Heidegger, Maurice Merleau-Ponty and John Dewey and it has only been studied empirically in the last few decades.
It's interesting that this way of thinking is so new. I find it interesting how, before the 20th century, we seemed to generally only think of the mind as separate from the body (of course, this is simply what is implied by the text, not necessarily true of the whole world before the 20th century). Did everyone before this point just think of the mind like Spock, all logic and entirely separate from the illogic of the body?