Gestural communication allows providing information about thoughts and feelings, characterizing face-to-face interactions, also during non-verbal exchanges. In the present study, the autonomic responses and peripheral synchronization mechanisms of two individuals (encoder and decoder) were recorded simultaneously, through the use of biofeedback in hyperscanning, during two different experimental phases consisting in the observation (watching videos of gestures) and reproduction of positive and negative different types of gestures (affective, social and informative) supported by linguistic contexts. Therefore, the main aim of this study was focused on the analysis of simultaneous individuals' peripheral mechanisms during the performing of complex joint action, consisting of the observation (watching videos) and the reproduction of positive and negative social, affective, and informative gestures each supported by a linguistic script. Single-subject and inter-subject correlation analyses were conducted to observe individuals' autonomic responses and physiological synchronization. Single-subject results revealed an increase in emotional arousal, indicated by an increase in electrodermal activity (skin conductance level - SCL and response - SCR), during both the observation (watching videos) and reproduction of negative social and affective gestures contextualized by a linguistic context. Moreover, an increase of emotional engagement, expressed by an increase in heart rate (HR) activity, emerged in the encoder compare to the decoder during gestures reproduction (simulation of gestures). Inter-subject correlation results showed the presence of mirroring mechanisms, indicated by an increase in SCL, SCR, and HR synchronization, during the linguistic contexts and gesture observation (watching videos). Furthermore, an increase in SCL and SCR synchronization emerged during the observation (watching videos) and reproduction of negative social and affective gestures. Therefore, the present study allowed to obtain information on the mirroring mechanisms and physiological synchronization underlying the linguistic and gesture system during non-verbal interaction.