We prove that the rescaled ``true'' self-avoiding walk $(n^{-2/3}X_{\lfloor nt \rfloor})_{t\in\mathbb{R}_+}$ converges weakly as $n$ goes to infinity to the ``true'' self-repelling motion constructed by Tóth and Werner. The proof features a joint generalized Ray-Knight theorem for the rescaled local times processes and their merge and absorption points as the main tool for showing both the tightness and convergence of the finite dimensional distributions. Thus, our result can be seen as an example of establishing a functional limit theorem for a family of processes by inverting the joint generalized Ray-Knight theorem.