A waste heat recovery (WHR) hybrid power system can be utilized in vehicles to convert heat energy into mechanical energy. The WHR system can include a WHR power unit structured to convert thermal energy into rotation of a WHR drive shaft. A motor/generator having a motor/generator shaft can selectively operate as a motor or a generator. A mechanical linkage can be structured to selectively link a output shaft to one of the WHR drive shaft and the motor/generator drive shaft independently of the other of the WHR drive shaft and the motor/generator drive shaft.