In this paper we propose a philosophical distinction between biological and cognitive domains based on two conditions that are postulated to obtain a useful characterization of cognition: biological grounding and explanatory sufficiency. According to this, we argue that the origin of cognition in natural systems (cognition as we know it) is the result of the appearance of an autonomous system embedded into another more generic one: the whole organism. This basic idea is complemented by another one: the formation and development of this system, in the course of evolution, cannot be understood but as the outcome of a continuous process of interaction between organisms and environment, between different organisms, and, specially, between the very cognitive organisms. Finally, we address the problem of the generalization of a theory of cognition (cognition as it could be) and conclude that this work would imply a grounding work on the problem of the origins developed in the frame of a confluence between both Artificial Life and an embodied Artificial Intelligence.