Autonomy and authority are often regarded as opposites. In this paper, I argue that autonomy should be conceived of as a specific form of (practical) authority and that this perspective is useful for identifying the conditions of personal autonomy. I will first highlight some structural analogies in the functioning of the concepts AUTONOMY and AUTHORITY and explain the resulting constraints on accounts of personal autonomy. I will then show that the problems of certain internalist and externalist accounts of autonomy are rooted in a false understanding of the foundation on which the authority that is characteristic of autonomy rests. To conclude, I present an account in which this foundation is given by a person’s maturity (Mündigkeit)...