The concept of voluntary motor control(VMC) frequently appears in the neuroscientific literature, specifically in the context of cortically-mediated, intentional motor actions. For cognitive scientists, this concept of VMC raises a number of interesting questions:(i) Are there dedicated, modular-like structures within the motor system associated with VMC? Or (ii) is it the case that VMC is distributed over multiple cortical as well as subcortical structures?(iii) Is there any one place within the so-calledhierarchy of motor control where voluntary movements could be said to originate? And (iv) in the current neurological literature how is the adjective voluntary in VMC being used? These questions are here considered in the context of how higher- and lower-levels of motor control, plan, initiate, coordinate, sequence, and modulate goal-directed motor outputs in response to changing internal and external inputs. Particularly relevant are the conceptual implications of current neurological modeling of VMC concerning causal agency.