In this collection of new and previously published essays, Kieran Setiya defends a causal theory of intentional action on which it is explained by knowledge in intention, a form of practical knowledge that transcends prior evidence. Such knowledge rests on knowing how to do the things we do. The theory is otherwise minimalist: agents need not regard their reasons as good, put means to ends, or adopt particular aims. It follows that we must reject the rationalist or constitutivist approach: the nature of agency is too thin to support the standards of practical reason. But the upshot is not nihilism. Instead, the requirement of means-end coherence is explained by the cognitive aspect of intention; and the standards of practical reason are those of ethical virtue, applied to practical thought.