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Abstract Heutagogy—self-determined learning—foregrounds learner agency in self-development. Despite its growing profile, heutagogy has yet to be examined empirically in the context of spiritual growth. Addressing this gap, this article reports multi-year action-research evidence on how heutagogy facilitates adult spiritual formation in Australia. Using non-directive mentoring, participants determined and directed their own goals and practices. A multi-method approach—cyclical interviews, participant journals, mentor reflections, professional supervision, and photovoice—captured change over time. All nine participants reported significant spiritual transformation. Reflexive thematic analysis identified five cross-cutting outcomes: practical spirituality, personal growth, relationship with God, growth challenges, and Christian fellowship. Participant accounts consistently linked sustained change to ownership, accountability, self-awareness, and God-awareness. The analysis indicates that heutagogy, augmented by non-directive mentoring, can create and sustain learner-centred conditions for self-development that are personally relevant, contextually grounded, and theologically authentic. The study offers practical implications and recommendations for adult-learning practitioners: (i) empower adults to take responsibility for their formation; (ii) tailor mentoring to denominational and individual contexts; and (iii) address barriers—busyness, fear, and social anxiety. The article contributes to the body of adult-education literature by demonstrating how heutagogy can support durable, context-sensitive spiritual growth in faith-based community settings, with transferability beyond Australia and Christian traditions.