This chapter completes the sketch of the social theory that backgrounds the discussion of both personal and political freedom. Social theorists typically think of agency as the catalyst for social change. This work not only follows that tradition but also qualifies philosophical concerns about personal autonomy by arguing that autonomy is collectively exercised through social discourse sparked by the underdetermination of social norms (among other social factors). The result of this discourse is social change (though this discourse is only one source of this change), and also social conflict.