Exercise from Guillemin and Pollack's book:
Assume $X \pitchfork Z$, both compact and oriented, and prove directly from the definition that $$I(X,Z)=(-1)^{(\dim X) (\dim Z)}I(Z,X).$$ (I assume $X,Z$ are (sub)manifolds of a manifold $Y\subset R^N$.)
In this case $I(X,Z)$ is the (signed) number of points in $X\cap Z$, where a point $y$ is included with a plus sign if the orientation of $X$ and $Z$ (in that order!) "add up" at $y$ to the orientation of $Y$; otherwise $y$ is counted with a minus sign.
I can see that this holds from the picture in the particular case when $X,Z$ are two "independent" loops on the torus, but I don't know how to generalize this picture to higher dimensions and write a rigorous proof