The present chapter aims to defend the thesis that Theodor Lipps adhered epistemologically and metaphysically to Naturphilosophie. After a brief biography of Lipps, we summarize the central ideas of his philosophy, his critique of the natural sciences, and his defense of lived experience as the fundamental fact of psychology. Subsequently, we revisit his famous concept of empathy (Einfühlung), showing that it can only be truly understood in the light of tenets of Naturphilosophie. Finally, we conclude with an appreciation of his work’s historical impact and actuality.