willingly

to agree to take something that is offered to you without reluctance

to take part in an activity or event without being forced

to consent to do something without being forced

to decide on a course of action or a person/thing from a number of alternatives without coercion

to become a member of or get involved in a group or activity of one's own free will

to give up something that is important or valuable to you in order to get or do something that seems more important

to yield to a superior force or to the authority of another person without resistance

to give permission for something to happen without being persuaded

to act in accordance with a wish or command without reluctance

to do a service or favor for someone without reluctance

to decide not to have or do something that you would like to have or do