{ 1 } - doing what we want to do.
{ 2 } - following our own laws (which we will to be universally followed).

Autonomy demands that we follow our own laws -- that we act on principle. We follow personal maxims for action that we also want everyone else to follow.

This is very different from just doing what we want to do. Suppose that I steal from another out of sensual inclination; but yet I don't will universal stealing. Here I'm not acting in an autonomous way: I'm not acting on a principle that I accept as equally binding on everyone.