The human perception system is often assumed to recruit motor knowledge when processing auditory speech inputs. Using articulatory modeling and deep learning, this study examines how this articulatory information can be used for discovering speech units in a self-supervised setting. We used vector-quantized variational autoencoders (VQ-VAE) to learn discrete representations from articulatory and acoustic speech data. In line with the zero-resource paradigm, an ABX test was then used to investigate how the extracted representations encode phonetically relevant properties. Experiments were conducted on three different corpora in English and French. We found that articulatory information rather organises the latent representations in terms of place of articulation whereas the speech acoustics mainly structure the latent space in terms of manner of articulation. We show that an optimal fusion of the two modalities can lead to a joint representation of these phonetic dimensions more accurate than each modality considered individually. Since articulatory information is usually not available in a practical situation, we finally investigate the benefit it provides when inferred from the speech acoustics in a self-supervised manner.