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(I did it) voluntarily: (I did it) freely, willingly
I voluntarily joined the army, but in retrospect, it was a poor decision. It was my own decision to join however, no-one forced me to do it.
voluntary: unforced, willing; conscious, deliberate, intentional; gratuitous
Her participation was voluntary. She wasn't told to do it, she did it because she wanted to and she wasn't paid for it either.

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