We realize the 16 unbroken supersymmetries on a BPS D-brane as invariances of the action of the corresponding open superstring field theory. We work in the small Hilbert space approach, where a symmetry of the action translates into a symmetry of the associated cyclic $A_\infty$ structure... We compute the supersymmetry algebra, being careful to disentangle the components which produce a translation, a gauge transformation, and a symmetry transformation which vanishes on-shell. Via the minimal model theorem, we illustrate how supersymmetry of the action implies supersymmetry of the tree level open string scattering amplitudes. (read more)