Nicomachean Ethics by Aristóteles — Read

Now that we have distinguished voluntary from involuntary acts, our next task is to discuss choice or purpose. For it seems to be most intimately connected with virtue, and to be a surer test of character than action itself.

It seems that choosing is willing, but that the two terms are not identical, willing being the wider. For children and other animals have will, but not choice or purpose; and acts done upon the spur of the moment are said to be voluntary, but not to be done with deliberate purpose.