Everything that is done by reason of ignorance is not voluntary; it is only what produces pain and repentance that is involuntary. For the man who has done something owing to ignorance, and feels not the least vexation at his action, has not acted voluntarily, since he did not know what he was doing, nor yet involuntarily, since he is not pained.
 Aristotle, Nicomachean Ethics (c. 334 BC - 330 BC). copy citation

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Author Aristotle
Source Nicomachean Ethics
Topic repentance pain
Date c. 334 BC - 330 BC
Language English
Reference
Note Translated by W. D. Ross
Weblink http://classics.mit.edu/Aristotle/nicomachaen.mb.txt

Context

“it is absurd to make external circumstances responsible, and not oneself, as being easily caught by such attractions, and to make oneself responsible for noble acts but the pleasant objects responsible for base acts. The compulsory, then, seems to be that whose moving principle is outside, the person compelled contributing nothing. Everything that is done by reason of ignorance is not voluntary; it is only what produces pain and repentance that is involuntary. For the man who has done something owing to ignorance, and feels not the least vexation at his action, has not acted voluntarily, since he did not know what he was doing, nor yet involuntarily, since he is not pained. Of people, then, who act by reason of ignorance he who repents is thought an involuntary agent, and the man who does not repent may, since he is different, be called a not voluntary agent; for, since he differs from the other, it is better that he should have a name of his own.” source