By a kingdom I understand the union of different rational beings in a system by common laws.  Now since it is by laws that ends are determined as regards their universal validity, hence, if we abstract from the personal differences of rational beings, and likewise from all the content of their private ends, we shall be able to conceive all ends combined in a systematic whole (including both rational beings as ends in themselves, and also the special ends which each may propose to himself), that is to say, we can conceive a kingdom of ends, which on the preceding principles is possible.

For all rational beings come under the law that each of them must treat itself and all others never merely as means, but in every case at the same time as ends in themselves.  Hence results a systematic union of rational beings by common objective laws, i.e. a kingdom which may be called a kingdom of ends, since what these laws have in view is just the relation of these beings to one another as ends and means.  It is certainly only an ideal.

A rational being belongs as a member to the kingdom of ends when, although giving universal laws in it, he is also himself subject to these laws.  He belongs to it as sovereign when, while giving laws, he is not subject to the will of any other.

A rational being must always regard himself as giving laws either as member or as sovereign in a kingdom of ends which is rendered possible by the freedom of will.  He cannot, however, maintain the latter position merely by the maxims of his will, but only in case he is a completely independent being without wants and with unrestricted power adequate to his will.

Morality consists then in the reference of all action to the legislation which alone can render a kingdom of ends possible.  This legislation must be capable of existing in every rational being, and of emanating from his will, so that the principle of this will is, never to act on any maxim which could not without contradiction be also a universal law, and accordingly always so to act that the will could at the same time regard itself as giving in its maxims universal laws.  If now the maxims of rational beings are not by their own nature coincident with this objective principle, then the necessity of acting on it is called practical necessitation, i. e., duty.  Duty does not apply to the sovereign in the kingdom of ends, but it does to every member of it and to all in the same degree.

The practical necessity of acting on this principle, i. e., duty, does not rest at all on feelings, impulses, or inclinations, but solely on the relation of rational beings to one another, a relation in which the will of a rational being must always be regarded as legislative, since otherwise it could not be conceived as an end in itself.  Reason then refers every maxim of the will, regarding it as legislating universally, to every other will and also to every action towards oneself; and this not on account of any other practical motive or any future advantage, but from the idea of the dignity of a rational being, obeying no law but that which he himself also gives.