“If I lose my mind, she will take care of me.”

Personal autonomy is among the core values of modern Western liberalism, but what is the precise meaning of this term, and why is autonomy valued so highly? What if one is no longer fully capable of self-determination, as may be the case as we grow old? In this article, we clarify the meaning of personal autonomy, claim that its importance is connected to its contribution to human well-being, and introduce some legal instruments with which to support the autonomy of older people. We illustrate our theoretical and legal analysis by drawing on the actual experiences of older people in Finland. Our empirical material supports the theoretical claims about autonomy’s importance, its connection to well-being, and its relational nature. However, this article also reveals that people should be more aware of the importance of engaging in legal planning in advance to ensure an autonomous life until the end of their lifespans.