Recent studies showed that the discharge of single motor neurons in the Inferior Parietal Lobule (IPL) and Ventral Premotor cortex (PMv) of the monkey, besides coding specific motor acts (i.e. grasping) can also reflect the goal of the action in which the coded act is embedded (i.e. eating or placing). However, it is still unknown whether at single neuron level there is an interaction between these two types of codes. To address this issue, we recorded grasping neurons activity from IPL (N=57) and PMv (N=57) while monkeys performed two different action sequences, i.e. grasp-to-eat or grasp-to-place, in which the same target object (a piece of food) was grasped with different types of grip (i.e. precision grip, side grip, finger prehension or whole-hand prehension). Results showed that the great majority of the recorded neurons in both areas (46% in IPL, 51% in PMv), encodes specifically the type of grip, regardless of the action goal, while a lower proportion (11% in IPL, 14% in PMv) encodes specifically the action goal, regardless of the type of grip. A consistent part of the remaining neurons (26% in IPL and 23% in PMv) revealed an interaction between the two investigated variables. For example the discharge of some neurons reflected the action goal only when a specific grip was adopted. These findings evidence the functional similarities of IPL and PMv in action organization, and support the motor role of the parietal cortex, beyond that of sensorimotor integration.