Freedom and discipline have come to be regarded as mutually exclusive, when in fact freedom is not at all the opposite, but the final reward, of discipline. It is to be bought with a high price, not merely claimed. ... The [professional] skater and [race] horse are free to perform as they do only because they have been subjected to countless hours of grueling work, rigidly prescribed, faithfully carried out. Men are free to soar into space because they have willingly confined themselves in a tiny capsule designed and produced by highly trained scientists and craftsmen, have meticulously followed instructions and submitted themselves to rules which others defined.