| Reflex Action | Voluntary Action |
|---|---|
| Initiated by some stimulus (touch, pain, pressure, heat, light) | Initiated by a willing thought. |
| Mainly self-protective due to environment. | Fulfilment of a desired goal. |
| Commands originate mostly in the spinal cord and autonomic nervous system and a few in the brain as well. | Commands originate in brain. |
| Involve muscles and glands. | Involve only muscles. |