The Metaphysics of Morals by Immanuel Kant Chapter 3 Page 45

conviction of the validity of this imperative, and hence of the moral law; but how this hypothesis itself is possible can never be discerned by any human reason. On the hypothesis, however, that the will of an intelligence is free, its autonomy, as the essential formal condition of its determination, is a necessary consequence. Moreover, this freedom of will is not merely quite possible as a hypothesis (not involving any contradiction to the principle of physical necessity in the connexion of the phenomena of the sensible world) as speculative philosophy can show: but further, a rational being who is conscious of causality through reason, that is to say, of a will (distinct from desires), must of necessity make it practically, that is, in idea, the condition of all his voluntary actions.

But to explain how