Based on a recently developed formalism for the two-body scattering problem $A + B \rightarrow C + D$ successfully applied to the nucleon-nucleon (NN) scattering problem [Int. J. New Horz. Phys. 5, No. 2, 1-8 (2018)], an explicit momentum space solution for the pion-nucleon ($\pi N$) scattering equation is given. The partial wave $T$-matrix for $\pi N$ scattering is calculated with a realistic and high-precision $\pi N$ interaction. In addition, the $\pi N$ scattering phase shifts for the important $\pi N$ partial waves are predicted. These phase shifts are also compared with the data points form the Virginia Polytechnic Institute (VPI) partial wave analysis and a good description below 500 MeV is obtained.