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Ideomotor accounts of action planning and control assume that voluntary actions are controlled by representations of their associated sensory outcomes. In this study, we explore a potential application of this principle to the planning and control of joint actions. We investigate the idea that representations of joint action outcomes influence individual action planning and selection processes by activating associated group-level representations that encode spatio-temporal relations between the individual contributions of self and other. To test this idea, we adapt the procedure of a well-established two-phase action-effect learning task to a joint action setting. In an initial learning phase, pairs of participants produce a series of high and low power-chords by means of synchronized button presses depicting specific spatial relations between each other. In a subsequent test phase, the former joint action outcomes (high and low power-chords) are then presented as imperative stimuli to which participants must respond according to a fixed stimulus-response mapping. We manipulate the stimulus-response mapping in the test phase to be either congruent or incongruent to the mapping between joint responses and joint action outcomes of the learning phase.