This paper provides a practical, hands-on introduction to cross-recurrence quantification analysis (CRQA), diagonal cross-recurrence profiles (DCRP), and multidimensional recurrence quantification analysis (MdRQA) in R. These methods have enjoyed increasing popularity in the cognitive and social sciences since a recognition that many behavioral and neurophysiological processes are intrinsically time dependent and reliant on environmental and social context has emerged. Recurrence-based methods are particularly suited for time-series that are non-stationary or have complicated dynamics, such as longer recordings of continuous physiological or movement data, but are also useful in the case of time-series of symbolic data, as in the case of text/verbal transcriptions or categorically coded behaviors. In the past, they have been used to assess changes in the dynamics of, or coupling between physiological and behavioral measures, for example in joint action research to determine the co-evolution of the behavior between individuals in dyads or groups, or for assessing the strength of coupling/correlation between two or more time-series. In this paper, we provide readers with a conceptual introduction, followed by a step-by-step explanation on how the analyses are performed in R with a summary of the current best practices of their application.