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Lexicalized parsing, which associates constituent nodes with lexical heads, has historically played a crucial role in constituency parsing by bridging constituency and dependency structures. Nevertheless, with the advent of neural networks, lexicalized structures have generally been neglected in favor of unlexicalized, span-based methods. In this paper, we revisit lexicalized parsing and propose a novel latent lexicalization framework that dynamically infers lexical heads during training without relying on predefined head-finding rules. Our method enables the model to learn lexical dependencies directly from data, offering greater adaptability across languages and datasets. Experiments on multiple treebanks demonstrate state-of-the-art or comparable performance. We also analyze the learned dependency structures, headword preferences, and linguistic biases.