In 1926 he immigrated to Palestine. He was Secretary of the Petah Tikva Workers Council and organized sentries to protect Jewish workers. He also did roadwork on the Tel Aviv-Petah Tikva road. In 1930 he joined kibbutz Yagur, and became its secretary six years later. During the 1936-39 Arab revolt he was among the first to call for "active defense".
He was a delegate to the Assembly of Representatives and a member of the Constituent Assembly. He was one of the leaders of the “B” faction in Mapai and one of the leaders of the Ahdut HaAvoda after the split in 1944. From 1960 to 1962 he was secretary general of Ahdut HaAvoda.
He was elected to the first and second Knessets for Mapam and for Ahdut HaAvoda to the third through fifth. He was a member of the House, Constitution, Law and Justice, Foreign Affairs & Defense, Constitution, Law and Justice, Labor, and Finance Committees, as well as Chairman of the Subcommittee for Basic Laws. he was also Deputy Speaker of the third Knesset. He was Minister of Internal Affairs from 1955 to 1962 and then Minister of Transportation until his death in 1965.
The Bar Yehuda Airfield was named after him, as is the road from Yagur to the HaKerayot intersection.