How do we manage to understand a completely novel state of affairs, such as the sudden effects of an unexpected earthquake, or the arrival of a total stranger instead of the sister we were waiting for? In each case, for a moment we might be stunned, but we are able quite quickly to fit these events into our overall framework for understanding the world. However, terrified and despairing we feel, we know what earthquakes are and this event fits that schema; in the case of the stranger we know that this kind of thing happens, and that we must ask the stranger "Who are you, and where is my sister?" This paper asks about the mechanisms by which we rapidly achieve an understanding of our world, both the unexpected changes we may experience, and the ongoing comfortable familiarity we normally have with our surroundings. We attempt a solution by means of examining fundamental questions: What is it to understand something?What sorts of things do we try to understand?Is there a conscious EXPERIENCE of understanding?Does understanding involve conscious mental images?What is self-organization? I will argue that these questions revolve around the need of a living organism to take action, and that understanding anything involves knowing how we might act relative to that thing in our environment. The experience of understanding is a feeling that the action affordances of a situation are clear and available. Action (as opposed to reaction) includes imagery, particularly motor imagery, which can be used in the guidance of action. Understanding requires a conscious process involving motor imagery of action affordances, and action can be understood only in self-organizational terms. I explain how self-organization can ground the kinds of action affordance experience needed for conscious understanding. The paper concludes that our day-to-day understanding of our environment is the result of a self-organizing process.