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The intrusion complex is one of the three 'family complexes' which Lacan discusses in his 1938 article on the family, and arises when the child first realises that he has siblings, that other subjects like him participate in the family structure.
The emphasis here is on likeness; the child identifies with his siblings on the basis of the recognition of bodily similarity (which depends, of course, on their being a relatively small age difference between the subject and his siblings).
It is this identification that gives rise to the "imago of the counterpart."
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