Although palpation is frequently used in physiotherapy examinations, a limited amount of research has been done to clarify this concept. The aim of this study was to describe physiotherapists’ experiences of shoulder palpation with the intention of obtaining detailed descriptions of the concept of palpation. Three focus group interviews were conducted, including a total of seven physiotherapists who had experience of patients with shoulder disability built up over a long period. A qualitative content analysis of the interviews was carried out. The findings showed how palpation can be perceived as a skill that could be described from two different perspectives: Manual and technical palpation and Palpation being dependent on the relationship between the physiotherapist and the patient. Palpation requires time, and the knowledge and experience of palpating built up over time. We also found how the two “perspectives” of palpation were inseparable from each other. The ability to perform manual and technical palpation and the relationship between the physiotherapist and the patient can be considered an interactive learning situation where the physiotherapist and the patient develop mutual knowledge of the body.