Voluntary actions — The actions or movements that are under the control of one's own will are called voluntary actions. For example, walking, jumping, lifting books, etc. Voluntary actions are controlled by Somatic nervous system.
Involuntary actions — The actions or movements that happen without consciousness or willingness of an individual are called the involuntary action. For example, beating of heart, breathing, digestion, etc. Involuntary actions are controlled by Autonomic nervous system.