Acupuncture stimulations in somatosensory system can modulate spatiotemporal brain activity and improve cognitive functions of patients with neurological disorders. The correlation between these somatosensory stimulations and dynamical brain responses is still unclear. We proposed a deep learning framework using electroencephalographic activity of stimulated subjects to decode the needling processes of various acupuncture manipulations performed on Zusanli acupoint. Contrastive representation learning integrated with domain adaptation strategy was applied to estimate 3D hand postures and hand joint motion trajectories of acupuncturist with video recordings, by which finite dimensional representations of behavior manifolds for needling operations were inferred. Distinct transition dynamics of behavior manifold were observed for acupuncture with lifting-thrusting and twisting-rotating manipulations. Moreover, latent neural manifolds of acupuncture evoked EEG signals were estimated in low dimensional state space of brain activities with unsupervised manifold learning, which can reliably represent acupuncture stimulations. Furthermore, a nonlinear decoder based on neural networks was designed to transform neural manifolds to behavior manifolds and further predict acupuncture manipulation as well as needling process. Experimental results demonstrated a high performance of the proposed decoding framework for four types of acupuncture manipulations with a precision of 92.42%. The EEG decoder provides an acupuncture-brain interface linking somatosensory stimulations with neural representations, an effective scheme for revealing clinical efficacy of acupuncture treatment.