It must be freely admitted that there is a sort of circle here from which it seems impossible to escape. In the order of efficient causes we assume ourselves free, in order that in the order of ends we may conceive ourselves as subject to these laws because we have attributed to ourselves freedom of will; for freedom and self-legislation of will are both autonomy...
Immanuel Kant, Fundamental Principles of the Metaphysic of Morals: & the Metaphysical Elements of Ethics
commandments, freedom, law, rules