 So the moral law is a law of autonomy in the sense that “freedom and unconditional practical law reciprocally imply each another” (5:29).  Even when my maxims are originally suggested by my feelings and desires, if I act only on morally permissible (or required) maxims because they are morally permissible (or required), then my actions will be autonomous. And the reverse is true as well: for Kant this is the only way to act  autonomously.[22]