Rabbi Abraham Joshua Heschel's declaration that "my legs were praying" after marching in Selma captured a profound fusion of spiritual and political action that defined his life's work. From the 1940s through 1972, Heschel's engagement with civil rights and anti-war movements emerged directly from his theological framework rather than existing parallel to it. Through close reading of primary sources, including his 1944 essay "The Meaning of this War," his 1951 work "The Sabbath," and various speeches on race and Vietnam, a unified worldview emerges where religious thought and social justice were inseparable. Heschel's Hasidic background and prophetic scholarship led him to consistently apply midrashic interpretation to contemporary social issues, viewing prayer as inherently subversive and political action as a form of worship. His theology of collective responsibility, deeply rooted in mystical spirituality, provided both the foundation and imperative for social justice activism. This analysis of Heschel's writings and speeches spanning three decades reveals how religious thought can authentically inform and motivate political engagement, offering insights into the integration of spiritual practice and social change.