Grave pilgrimage remains an integral part of community life in various regions of Indonesia. However, this practice often gives rise to differing perspectives, as it is understood as a form of cultural heritage, a religious practice, or even a tradition considered to be inconsistent with religious teachings. This study aims to describe the implementation of the Pergi Tepat tradition, analyze the relationship between humans, ancestors, and God, and examine it through the perspective of Stephen B. Bevans’ contextual theology among the Panai community in Silaut District, Pesisir Selatan Regency. This research employed a qualitative descriptive field research approach. Data were collected through observation, in-depth interviews, and documentation, and were analyzed using data reduction, data display, and conclusion drawing. The findings reveal that Pergi Tepat is a hereditary grave pilgrimage tradition carried out through a series of customary rituals that embody respect for ancestors, social solidarity, and religious values. The study also found that the tradition constructs a triadic relationship among humans, ancestors, and God, in which ancestors are understood as symbolic mediators who remind the community of their history and identity, while God remains the ultimate focus of all prayers, hopes, and expressions of faith. Stephen B. Bevans’ contextual theology demonstrates that culture serves as the context in which faith is understood, experienced, and expressed through the lived experiences of the community. Therefore, the Pergi Tepat tradition represents an expression of contextual theology that integrates local culture, respect for ancestors, and devotion to God in the religious life of the Panai community.