The perspectives on the genuine basis of self and self-consciousness are diverse. Against the background of two exemplary theories, a concept is presented which modifies otherwise contrasting models and merges essential features of consciousness into a modified concept. This includes the brain’s comparative representation of sensations originating in the subject’s body versus those originating in the environment. It will be substantiated why, in contrast to alternative proposals, specifically the comparison of these two sources of information is considered both, essential and sufficient, for self-consciousness to emerge. The modified model further includes a gradual and overlapping progression of sensory and cognitive abilities in phylogeny and ontogeny, contrasting with categorization of distinct and discrete stages of consciousness, as proposed in the literature.