In this study, 6-month-olds' perception of an object-related human grasping action was compared with their level of grasping performance using a within-participants design. In the action perception task, infants were presented with the video of an actor's grasping movement toward an occluded target object. Subsequently, an expected and an unexpected final state of this grasping movement were presented simultaneously, and infants' looking times were measured. In the action production task, infants were presented with three graspable objects. Infants' grasping behavior was coded to be either palmar or thumb-opposite grasping. Results indicate that infants who were already able to perform a thumb-opposite grasp differentiated between the two final states in the action perception task by looking longer toward the unexpected final state. In contrast, infants who showed only palmar grasps looked equally long toward both final states. This finding supports the assumption that action perception and action control are already closely related in infants as young as 6 months.