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This book considers our freedom of action, and what sort of mind, or psychology, that freedom requires. It argues that our freedom of action depends on our being able to decide freely which actions we shall perform; in other words, to have freedom of action, we need a free will. It shows how our decisions to act are actions themselves, but with the special function of ensuring the rationality of the actions that they explain. The book seeks to resolve a range of problems about the nature both of action and rationality.