I argue that the descriptions of perceptual experience offered by Kant and Merleau-Ponty are, contrary to what many commentators suppose, largely compatible. This is because the two are simply referring to different things when they talk about experience: Kant to empirical cognition and Merleau-Ponty to perception. Consequently, while Merleau-Ponty correctly denies that Kant accurately describes the conditions for the possibility of perception, Kant nevertheless provides a plausible account of the conditions of empirical judgment. Further, the two approach experience with different standards of normativity: Kant with the standard of justification, but Merleau-Ponty with the standard of what he calls “motivation”. I exemplify this approach through an analysis of the Second Analogy of Experience.