Psychomotricity has undergone profound transformations in recent decades and the following steps require conceptual changes that facilitate the communication of its contributions to society, public administrations, academia and the scientific community. The objective of this paper is to review how the accompaniment, support and scaffolding of the development process in educational and therapeutic contexts is approached from psychomotricity. As conclusions of this analysis, a rewriting of psychomotricity is proposed from a constructivist perspective in order to promote its implementation and social recognition. With this purpose, it presents the basic axioms of a constructivist conceptual framework for psychomotricity, which affect the conception of the human being, development, mind, subjectivity, the value of diversity, the objectives and methods of intervention, its areas of action, requirements and potentiality in our days.