We present the first determination of $\rho \pi$ scattering, incorporatingdynamically-coupled partial-waves, using lattice QCD, a first-principlesnumerical approach to QCD. Considering the case of isospin-2 $\rho \pi$, wecalculate partial-wave amplitudes with $J \le 3$ and determine the degree ofdynamical mixing between the coupled $S$ and $D$-wave channels with $J^P=1^+$.The analysis makes use of the relationship between scattering amplitudes andthe discrete spectrum of states in the finite volume lattice. Constraints onthe scattering amplitudes are provided by over one hundred energy levelscomputed on two lattice volumes at various overall momenta and in severalirreducible representations of the relevant symmetry groups. The spectra followfrom variational analyses of matrices of correlations functions computed withlarge bases of meson-meson operators. Calculations are performed withdegenerate light and strange quarks tuned to the physical strange quark mass sothat $m_\pi \sim 700$ MeV, ensuring that the $\rho$ is stable against strongdecay. This work demonstrates the successful application of techniques, openingthe door to calculations of scattering processes that incorporate the effectsof dynamically-coupled partial-waves, including those involving resonances orbound states.