This paper introduces the Eigen Theory of the physical world in which the fundamental form of a particle of matter is a distribution of points that forms a manifold of its own. Each of these points results from the intersection of a corresponding pair of eigenvelocity vectors. These vectors are functions of a pair of symmetric and antisymmetric tensors characteristic of gravitation and electromagnetism respectively. The theory develops in three stages. In the first stage, an arbitrary infinitesimal perturbation of the point of intersection of a pair of eigenvelocity vectors produces the wave aspect of the particle of matter and the second stage produces the particle itself. The third stage formulates the base manifold, characterised by an eigenfield of a second pair of symmetric and antisymmetric tensors, in which the particle moves as a whole but with only the particle centre remaining in contact with it. The first two stages expose the reality behind matter-antimatter, the quantum mechanical wave-particle duality and the results of the double-slit experiment. The third stage reveals the nature of dark energy and the structure of dark matter. In Eigen Theory Quantum Mechanics becomes restructured; in particular the uncertainty principle ceases to exist. Finally, the Eigen Theory is in agreement with Einstein’s physical reality since it establishes that, in contrast to the extrinsic physical reality that exists due to the above-mentioned arbitrary perturbation, an intrinsic physical reality may also exist, which in itself is inaccessible to observation and experimentation.