In this paper I tackle the normative re-appropriation of the legacy of Charles Taylor's expressivist understanding of Hegel's theory of action. I argue that a normative understanding of Hegel's expressivist notion of agency by interpreters such as Robert Pippin, Terry Pinkard, Michael Quante and Robert Brandom, has been obtained at the price of losing sight of the principle of embodiment and of its relevance for our and Hegel's understanding of social action. I aim at relocating Hegel's notion of expressive embodiment (...) at the core of his explanation of action. Rather than following Taylor's hermeneutical reconstruction of the principle of embodiment, I try to reconstruct it by putting at its core the notion of habit formation with the help of conceptual tools taken from contemporary embodied cognition approaches. I first discuss theAnthropologyand argue that habit, understood as a sensorimotor embodied life form, is not only an enabling condition for agency, but in fact an ontological constitutive condition for all its levels of manifestation. According to this reading, the Hegelian approach to embodiment offers a model that not only assigns to habit a positive constitutive role in the formation of human mindedness, but also overcomes the dualism between habitual motor routine and intentional activities. If we approach Hegel's understanding of agency from this vantage point, we can gain a perspective which allows us to appreciate a naturalist strand of Hegel's expressivism about action and to free it from certain basic anti-naturalistic assumptions of contemporary normative expressivist interpretations of Hegel on social action. (shrink)