Aim. The objective of this article is to describe our innovative competency-based approach to teaching nursing students about the autonomic nervous system (ANS). Background. Nurse educators require resources about pedagogical approaches related to ANS instruction. Design and Methods. We implemented an approach based on Kolb’s Experiential Learning Theory, which was piloted in several nursing courses that spanned undergraduate and graduate levels of education. Results. We organized content according to three core ANS concepts: receptors and ligands; neurotransmission; and ANS divisions and reflexes. After students demonstrated mastery of these concepts, we introduced active-learning exercises, such as case studies, interactive games, concept mapping, and simulation-based education. This approach layered clinically-relevant information upon the core concepts. We leveraged student feedback by adding historical, social science, and literary examples into lectures because students reported how this approach made the material engaging. Conclusion. Our approach guides students toward a conceptual understanding of the ANS to support critical thinking and enhance nursing skills, such as interpreting physiologic signals, titrating vasoactive medications, and recognizing ANS disorders.