Freedom isn't the right or ability to do whatever you please. Freedom comes from understanding the limits of our own power and the inherent limits set in place by nature. By accepting life's limits and inevitabilities and working with them rather than fighting them, you become truly free.
EpictetusLiving a good life leads to enduring happiness. Goodness in and of itself is the practice AND the reward.
EpictetusWhen you have decided that a thing ought to be done and are doing it, never avoid bein seen doing it, though many shall form an unfavorable opinion about it. For if it is not right to do it, avoid doing the thing; but if it is right, why are you afraid of those who shall find fault wrongly?
Epictetus