From Pope St. John Paul II’s encyclical Veritatis Splendor (1993):
Man’s genuine moral autonomy in no way means the rejection but rather the acceptance of the moral law, of God’s command: “The Lord God gave this command to the man . . .” (Gen 2:16). Human freedom and God’s law meet and are called to intersect, in the sense of man’s free obedience to God and of God’s completely gratuitous benevolence towards man. Hence obedience to God is not, as some would believe, a heteronomy, as if the moral life were subject to the will of something all-powerful, absolute, extraneous to man and intolerant of his freedom. If in fact a heteronomy of morality were to mean a denial of man’s self-determination or the imposition of norms unrelated to his good, this would be in contradiction to the Revelation of the Covenant and of the redemptive Incarnation. Such a heteronomy would be nothing but a form of alienation, contrary to divine wisdom and to the dignity of the human person.
Others speak, and rightly so, of theonomy, or participated theonomy, since man’s free obedience to God’s law effectively implies that human reason and human will participate in God’s wisdom and providence. By forbidding man to “eat of the tree of the knowledge of good and evil”, God makes it clear that man does not originally possess such “knowledge” as something properly his own, but only participates in it by the light of natural reason and of Divine Revelation, which manifest to him the requirements and the promptings of eternal wisdom. Law must therefore be considered an expression of divine wisdom: by submitting to the law, freedom submits to the truth of creation. Consequently one must acknowledge in the freedom of the human person the image and the nearness of God, who is present in all (cf. Eph 4:6). But one must likewise acknowledge the majesty of the God of the universe and revere the holiness of the law of God, who is infinitely transcendent: Deus semper maior.74
74 Cf. Saint Augustine, Enarratio in Psalmum LXII, 16: Corpus Christianorum, Latin series 39, 804.
— Veritatis Splendor 41