To form accurate representations of the world, sensory systems must accurately encode stimuli in the spike trains of populations of neurons. The nature of such neuronal population codes is beginning to be understood. We characterize the entire sensory system underlying a simple withdrawal reflex in the leech, a bend directed away from the site of a light touch. Our studies show that two different populations of mechanosensory neurons each encode touch information with an accuracy that can more than account for the behavioral output. However, we found that only one of the populations, the P cells, is important for the behavior. The sensory representation of touch location is based on the spike counts in all of the four P cells. Further, fewer than three action potentials in the P cell population, occurring during the first 100 ms of a touch stimulus, may be required to process touch location information to produce the appropriately directed bend.