We are limited by the very fact that we have human form. There is no freedom in following our whim, or even our most reasoned decisions. As a prisoner cannot undo his own shackles, so we remain enslaved to our own limited selves.
And so Moses was told, “When you take the people out from Egypt, you shall all serve the Infinite G‑d on this mountain.”
The Infinite G‑d is the only one who is not compelled by any bounds. What makes us free? Simple deeds done each day, as agents of the One who is absolutely free.

The Freedom Equation A 'good deed' equation comprises 2 parameters:
action + intention = good deed
The Kabbalists referred to the intention as 'kavanah', the most important aspect of the equation.
Our egoistic nature is programmed to follow the unconscious calculation: what's in it for me?
This intention will not pass the merit of a 'good deed'.
Only the force of Moses within us, which pulls out from our self-interest will enable the 'good deed' to ascend through the gates of the sefirot attributes to be accepted as a holy deed at the King's palace.
This special force, that aims our deed to benefit outside my self, releases us from the chains to our self-concern and allows us to connect to G_dliness.