Drawing upon clinical psychoanalysis and laboratory research, this chapter develops an “embodied-relational” epistemology. The chapter reviews major research findings on the ways embodiment influences the cognitive processes by which we understand ourselves and the world. It also reviews current neuro-network studies whose findings imply the brain can be understood as a single, interactive system and not simply a collection of relatively autonomous domains. The emphasis here is on the brain’s complexity, integration, and a certain degree of openness. Sensory experience is understood as an active, not passive process, involving an intimate interconnection between self and world. The role of proprioception, as well as the five basic senses, is analyzed. The implications of such research findings for human understanding, and especially religious understanding, are elaborated.