Among numerous nucleating agents, organic carboxylate nucleating agents have been demonstrated to markedly improve the crystallization of polypropylene (PP). However, poor dispersion in the PP matrix affects the modification effect. In this work, erucamide (ECM) and sodium 4-[(4-chlorobenzoyl) amino] benzoate (SCAB) form a hydrogen-bonded self-assembled structure to obtain the SCAB-ECM composite nucleating agent in order to improve the dispersion of SCAB in the PP matrix and to exert internal lubrication on the PP matrix. The molecular structure of the SCAB-ECM composite was investigated by using Fourier transform infrared spectroscopy (FT-IR), and the result showed that SCAB and ECM could form a hydrogen-bonded self-assembled structure after physical blending. The scanning electron microscopy (SEM) results visualized that ECM promoted the dispersion of SCAB due to the formation of hydrogen-bonded self-assembled structures by SCAB and ECM. The crystallization behavior was studied using differential scanning calorimetry (DSC). At the crystallization temperature of 135 °C, the K of PP, PP/ECM, PP/SCAB, and PP/SCAB-ECM were 0.0002, 0.0004, 1.1616, and 1.8539, respectively. The crystallization properties of PP/SCAB-ECM were the best, which was attributed to the fact that SCAB formed a hydrogen-bonded self-assembled structure with ECM, which promoted the dispersion of SCAB in the PP matrix. The results of the rheological behavior demonstrated that the ECM can act as a lubrication effect, which was also proved by flexural strength results.