In the first part of this chapter (sections 2-5) an empirical theory of practical reasons is sketched and defended. It consists of: hypotheses about what intentions are, namely optimality beliefs, (2), hypotheses about how intentions are formed on the basis of probabilistic beliefs and intrinsic desires (3), a pluralist theory about intrinsic desires (4) and a theory about motives for moral action (5). In the second part (sections 6-8) it is argued that normative practical philosophy must rely on empirical theories of practical reasons (6). Then it is shown that theories of prudential practical rationality and of morals that are not based on such empirical theories run into problems. And it is sketched how the empirical theory outlined in the first part can be used as a basis for a reconstructive approach to practical rationality and of an internalist approach to morals (7-8).