A Lagrangian depending on geometric variables (metric, affine connection, gauge group generators) is given which maintains compatibility with General Relativity. It generates the dynamics for Electromagnetism and other Gauge Fields along with Gravitation, at the time it gives a geometric foundation for the stress-energy tensor of continuous matter. The geometric-invariance principle under this integration is exposed and the resulting field equations are obtained. The theory is developed over the tangent space of a four-dimensional real manifold and the generators become those from the Homogenous Lorentz group.