Past research has demonstrated incidental learning of task-irrelevant visual and auditory stimuli. Motivated by the possibility of similar evidence in the tactile domain and potential applications in tactile speech communication systems, we investigated incidental categorization of vibrotactile stimuli through a visuomotor task of shape identification. Two experiments were conducted where participants were exposed to position-based or movement-based vibrotactile stimuli prior to performing a speeded response to one of two targets. The two experiments differed only in the particular sets of such stimuli employed. Unbeknownst to the participants, the vibrotactile stimuli and visual targets were initially correlated perfectly to facilitate the incidental learning of their associations, briefly uncorrelated to check the cost in reaction time, and correlated again to re-establish the initial association. Finally, participants were asked to predict visual targets from novel position-based and movement-based stimuli. The results from both experiments provided evidence of incidental categorization of vibrotactile stimuli. The percent-correct scores and sensitivity indices for the overt categorization of novel stimuli from both experiments were well above chance, indicating generalization of learning. And while both experiments showed an increase in reaction time when the association between vibrotactile stimuli and visual targets was disrupted, this reaction time cost was significant only for the stimuli used in the second experiment. Our finding of incidental categorization in the tactile domain has important implications for the effective acquisition of speech in tactile speech communication systems.