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The moral sense is a quintessential part of human nature. As such, empathy is one of the most important instruments in the toolbox of the human mind. It is the trigger of altruistic motivation. However, from an evolutionary point of view, altruistic behaviour is costly. Kin altruism is worth the effort when it adds to the individual’s indirect fitness. In contrast, the benefit of altruistic behaviour towards strangers depends on the reciprocation of the other person. Helping a non-reciprocator lowers fitness. Therefore control mechanisms should be in place to fine-tune the amount of empathy displayed towards strangers, whereas this is less necessary for kin. I propose that two types of altruistic motivation occur. The first is primarily based on (maternal) attachment and affective empathy and is observed in many social mammals. The second depends on cognitive empathy and is only observed in primates and humans.