Motor commands play an important role in not only body movements but also sensory perceptions. It has been suggested that a copy of the motor commands, called an efference copy, is sent to the sensory system, which allows us to distinguish the sensory stimuli produced by our own actions from those produced externally, no matter how qualitatively and quantitatively similar the stimuli are. We have previously shown that an inactivation of secondary motor cortex (M2) axons projecting to the primary somatosensory cortex (S1) reduces sensory stimulus-evoked S1 activity and changes tactile perception in mice. These results suggested the hypothesis that neural activity in M2, which is a higher-order cortical area of the primary motor cortex (M1), sends motor commands to M1 and that S1 receives copies of these signals. As a first step to test this hypothesis, we simultaneously recorded firing activities in the S1 hindlimb area and the M2 area in mice with their heads fixed. Two types of hindlimb stimulations were given to them: a self-induced hindlimb stimulation and an externally-induced hindlimb stimulation. The self-induced stimulation (S-stim) was evoked in mice by their pressing of a lever or licking. In contrast, the externally-induced stimulation (E-stim), which had the same physical properties as the S-stim, was not correlated with any events, and it occurred as an unexpected stimulation for the mice. We compared the S1 and M2 neural activities in response to the two types of stimulations and investigated whether S1 neural activity in response to the S-stim expressed motor commands more accurately than the activity in response to the E-stim.