The author summarizes the emerging behavioral neuroscience of prudence and morality, showing how human moral and prudential cognition and motivation are known to involve over a dozen brain regions and capacities. He then outlines a detailed philosophical theory of prudence and morality based on neuroscience and lived human experience. The result demonstrates how this theory coheres with and explains the behavioral neuroscience, showing how each brain region and capacity interact to give rise to prudential and moral behavior. will be of interest to philosophers and psychologists working in moral psychology, neuroethics, and decision theory.