In this paper, I will elucidate the actuality of Hegel’s philosophy of action from the point of agency. Agency is one of the important problems in contemporary philosophy of action since Harry Frankfurt’s famous paper on agency. However, contemporary theories of agency as Frankfurt’s, Watson’s, and Taylor’s are not sufficient because they do not consider genealogical conditions of agency, as it is discussed by Wolf. In this paper, I will argue that Hegel’s philosophy of action is actual in that it includes the historical or genealogical conditions of agency. According to Hegel, man became a free agent in the modern society at first time. However, Hegel’s philosophy of history is often interpreted as a kind of closed historical teleology whose end is the modern society. In opposition to this reading, I will argue that Hegel’s theory of development which his philosophy of history is based on is open to the future and that Hegel’s theory of agency is based on the theory of rational society in a pragmatic sense.