We feel that our actions are voluntary when they follow a decision and involuntary when they happen without decision. But if a decision itself were voluntary every decision would have to be preceded by a decision to decide - An infinite regression which fortunately does not occur. Oddly enough, if we had to decide to decide, we would not be free to decide
Open your mind to what I shall disclose, and hold it fast within you; he who hears, but does not hold what he has heard, learns nothing. Beatrice - Canto V 40-42