In this thesis, I extend the common framework for the discussion of language evolution, stressing the significance of an embodied agent for elaborate mental, linguistic, and cultural advances in evolutionary history. In the first part of the work, the mechanisms of a dynamic system and the distinctive features of language with regard to culture and biology are elaborated. As is shown, language is a complex construct, with its evolution displaying a far-reaching entwinement of a great array of components. Alongside cultural advances and their possible knock-on effect on subsequent developments, the second part focuses on the evolution of the human brain and human cognition, particularly embodied social cognition. As the argument goes, the latter is an essential prerequisite for consolidating shared intentionality, joint attention, and a shared communal consciousness and identity. Grounded in these developments both elaborate culture and language could have flourished. In this context, depictive art might account for a mind-transforming token that enhanced human mental and productive capacities. Norms of cooperation could thus be transmitted and human offspring would have been better informed and prepared for life in the community in the long run. Furthermore, the transition from iconic and indexical to symbolic sings is described a crucial cognitive leap that allowed individuals and groups to understand conventionalized symbols in a specific context. In light of these findings, the epigenetic and ontogenetic paths of language are the foci of the third and fourth part. I then conclude by arguing that human societal and cultural changes are/were major incentives for our adaptive nature, our linguistic aptitude, and our mental prowess, and that each development is/was inevitably dependent on a deep understanding of the relation between the self and the environment, in that its interaction with the world transforms/transformed the mind and the body.