We consider an interior inverse scattering problem of reconstructing the shape of a cavity with impedance boundary condition from measured Cauchy data of the total field. The incident point sources and the measurements are distributed on two different manifolds inside the cavity. We first prove that the boundary of the cavity and the surface impedance can be uniquely determined by the scattered field data on the measurement manifold. Then we develop a reciprocity gap (RG) method to reconstruct the cavity. The theoretical analysis shows the uniquely solvability and existence of the approximate solution for the linear integral equation constructed in the RG method. We also prove that the shape of the cavity can be characterized by the blow-up property of the approximate solution of the proposed integral equation. Numerical examples are presented to verify the feasibility of the RG method.