I propose a set of distinctions that demarcate the structure that I consider suitable for the study and determination of the true value of the thesis of conceptual incompatibility between authority and autonomy. I begin with an analysis of the standard conception of authority, i.e., correlativism. I distinguish two versions: the epistemic and the voluntarist. Then I offer an analysis of two conceptions of moral autonomy: self-legislation and self-judgment. I conclude by remarking that we should distinguish two different versions of the conceptual incompatibility thesis: a) the conflict is unsolvable because moral autonomy requires that we always be the authors of the norms we have to obey, while the authority claims that its will is a source of such standards; and b) the conflict is unsolvable because moral autonomy requires that we always judge for ourselves what categorical reasons should guide our action and that we act accordingly. Authority, on the contrary intends that we rest on its judgment and give up acting on our own.