An ontogenetically-informed epistemology is necessary to understandings of apprenticeship learning. The methodology required in this enterprise is a constructive phenomenology, a phenomenology that takes into account the fact that as infants, we were apprentices of our own bodies: we all learned our bodies and learned to move ourselves. The major focus of this essay is on infant social relationships that develop on the ground of our original corporeal-kinetic apprenticeship. It shows how joint attention, imitation, and turn-taking - all richly examined areas in infant social development - are the foundation of apprenticeship learning in later adult life. The relationship between each infant capacity and later apprenticeship learning is demonstrated in examples from present-day research, specifically, research in the areas of medicine, sport, music, and tailoring, and research carried out by philosophers on apprenticeship learning.