The Stoics have sometimes been credited with concern for appropriately moral motivation, based on their distinction between those actions they classify as appropriate (kathēkonta) and those they characterize, in addition, as done on the basis of virtue (katorthōmata). This chapter argues that the Kantian and Stoic views closely resemble one another in this respect: just as Kant’s motive of duty requires a singular interest in the rightness of dutiful action, so the Stoics suppose that virtue and actions that originate in virtue are the only objects of fully rational desire. Both theories recognize, as well, that many of our cognitions are not transparent to ourselves, so that we are often unaware of our own motives. This recognition speaks to the depth and complexity of Stoic intellectualist psychology and underlies Kant’s claim that the effort to understand our own moral condition is a “wide” duty of virtue.