It’s our (real) 6th sense called [Proprioception. ](https://en.wikipedia.org/wiki/Proprioception)
There are special nerves within our muscles and skeletal system. These sense movement, direction, and more. Your nervous system then integrates the senses with other inputs to give you the sense on where your body is. The other inputs are mainly sight (you see where your foot is, and remember where you last saw it) and touch (you feel the bottom of your foot against something, and deduce it’s on the floor).
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