In his later writings, Kant distinguishes between autonomy and self-mastery or self-command. My article explains the relation between these two ideas, both of which are integral to his understanding of moral agency and the pursuit of virtue. I point to problems with other interpretations of this relation and offer an alternative. On my view, self-command is a condition or state achieved by those agents who become proficient at solving problems presented by the passions. Such agents are able to stick to (...) the results of self-legislation over time and thereby achieve a form of temporally extended freedom. (shrink)