This paper examines how community-based civic action research can cultivate civic engagement, civic belonging, and shifts in civic stakeholders' perceptions of racially and economically minoritized youth's civic agency. Specifically, this paper examines the implementation of Youth, Research and Plan (YRP) -- a community-based research methodology that cultivates equitable relationships between schools, cities, and communities by situating disenfranchised youth and their schools at the center of civic and urban planning -- in a unique academic program focused on the development of Black manhood and achievement in a public high school. Using a Critical Race Theoretical application of Communities of Practice and drawing on qualitative data gathered over the course of two years, we show how YRP was instrumental in the development of three interrelated communities of practice that supported the youth's academic endeavors and civic agency and yielded important shifts in civic stakeholders' perceptions of and relations with Black urban youth.