Summary: We show that it is possible to obtain self-consistent and physically acceptable relativistic classical equations of motion for a pointlike spin-half particle possessing an electric charge and a magnetic dipole moment, directly from a manifestly covariant Lagrangian, if the classical degrees of freedom are appropriately chosen. It is shown that the equations obtained encompass the well-tested Lorentz force and Thomas-Bargmann-Michel-Telegdi spin equations, as well as providing a definite specification of the classical magnetic dipole force, whose exact form has been the subject of recent debate. Radiation reaction—the force and torque on an accelerated particle due to its self-interaction—is neglected at this stage.