Episodic memory (EM) allows us to remember and relive past events and experiences and has been linked to cortical-hippocampal reinstatement of encoding activity. While EM is fundamental to establish a sense of self across time, this claim and its link to the sense of agency (SoA), based on bodily signals, has not been tested experimentally. Using real-time sensorimotor stimulation, immersive virtual reality, and fMRI we manipulated the SoA and report stronger hippocampal reinstatement for scenes encoded under preserved SoA, reflecting recall performance in a recognition task. We link SoA to EM showing that hippocampal reinstatement is coupled with reinstatement in premotor cortex, a key SoA region. We extend these findings in a severe amnesic patient whose memory lacked the normal dependency on the SoA. Premotor-hippocampal coupling in EM describes how a key aspect of the bodily self at encoding is neurally reinstated during the retrieval of past episodes, enabling a sense of self across time.