To have moral worth an action not only needs to conform to the correct normative theory (whatever it is); it also needs to be motivated in the right way. I argue that morally worthy actions are motivated by the rightness of the action; they are motivated by an agent's concern for doing what's right and her knowledge that her action is morally right. Call this the Rightness Condition. On the Rightness Condition moral motivation involves both a conative and a cognitive element—in particular, it involves moral knowledge. I argue that the Rightness Condition is both necessary and sufficient for moral worth. I also argue that the Rightness Condition gives us an attractive account of actions performed under imperfect epistemic circumstances: by agents who rely on moral testimony or by those who, like Huckleberry Finn, have false moral convictions.