Chapter 2 develops an understanding of Critical (Marxist) Theory as approached the first time by Horkheimer and colleagues throughout the 1930s in the Zeitschrift für Sozialforschung. In this way it reconnects the Frankfurt School back to emancipatory Marxisms by complementing a Hegel-inspired Marxist totality analysis with a deepened critique of ideology. Furthermore, it argues that the interest of Critical Theory’s knowledge resides in emancipation, which is seen in the mediation of the agency of social intersubjectivity (the people) with the structures of societal objectivity (material culture). This, however, is only possible if (critical) theory and (collective) practice come together in emancipatory praxis as a form of substantial democratisation.