My research responds to a growing shift in experience design towards approaches that work explicitly with bodies. Yet embodiment is often treated as individual or abstract, rather than as something negotiated between bodies and situated in practice. Drawing on feminist post-phenomenology—particularly Sara Ahmed and Gail Weiss—I develop encounters as a strong concept in design for understanding embodiment as relational and intercorporeal. This work is developed through a practice-based PhD, Bodies(in)Form, and two projects: Stepping: With Performer Trainers and Climbing: With Routesetters. Across these, embodied design is reframed as a series of Design Encounters—sites of practice constituted in, through, and alongside multiple bodies.