The Metaphysics of Morals by Immanuel Kant Chapter 2 Page 100

We cannot prove that this practical rule is an imperative, i.e., that the will of every rational being is necessarily bound to it as a condition, by a mere analysis of the conceptions which occur in it, since it is a synthetical proposition; we must advance beyond the cognition of the objects to a critical examination of the subject, that is, of the pure practical reason, for this synthetic proposition which commands apodeictically must be capable of being cognized wholly a priori. This matter, however, does not belong to the present section. But that the principle of autonomy in question is the sole principle of morals can be readily shown by mere analysis of the conceptions of morality.

For by this analysis we find that its principle must be a categorical imperative and that what this commands is neither more nor less than this very autonomy.