Free will and teshuvah, Rabbi Akiva Tatz points out in Will, Freedom and Destiny, are inextricably connected. Free will is the precondition for teshuvah. As Rambam writes, “Since a person has free will… he should strive to do teshuvah….” While all mitzvos require intention, with respect to teshuvah, “an act of will itself constitutes the mitzvah.” That is why, Rabbi Tatz suggests, Rambam includes his discussion of free will within the laws of teshuvah.