This programmatic essay argues that meaningful historical engagement with the Anthropocene begins with recognizing that the concept arises not only from geology but also from Earth System science (ESS), which has evolved to incorporate both physical systems and human systems in an integrated view of our planet. It makes the case that this holistic understanding alters both the science and the history of the Anthropocene by introducing a novel form of human agency: Earth System agency. This radical new form of agency does not eclipse the individual and collective forms of agency that have always interacted with the environment but adds to them in complex and sometimes uncomfortable ways. It challenges us to develop a science-induced Anthropocene historiography and a humanities-induced Anthropocene science. The history of science is well positioned to play a dialectical role in developing a "critical friendship" between Anthropocene history and Anthropocene science-a process in which the history of science will likely be transformed as well.