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In Genesis, we could read the story of Adam and Eve. They have the free will to choose to eat the fruit of knowledge of good and evil. It was NOT the will of God for them to eat the fruit He has forbade them, but still Adam and Eve ate the fruit. It is clear that humans have free will to choose, and so Mary decided in her own free will to bear the child Jesus. God also knows EVERYTHING what will happen in the future. That is why prophets know things what WILL happen because it came from God. As humans, we DO NOT know what will happen, and so Mary was chosen by God since He knows she will bear the child. It's like this: God knows the world will end because it is written in the Bible (Revelations). But, people don't know when the world will end. So, we have the free will to choose heaven or hell (we are not FORCED to choose). However, God knows what we will choose. If Mary was chosen to bear Jesus, then she will bear Jesus.
4 Even before the world was made, God had already chosen us to be his through our union with Christ, so that we would be holy and without fault before him. (Ephesians 1:4)
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In fact, there is nothing in the Gospels to suggest that the motherhood of Jesus was imposed on Mary. Her words of submission to the angel (Lk 1:38), her hurried journey to the house of Elizabeth (1:39), her loud calling of Elizabeth at the gates of the latter (1:42), their joyful exchange of greetings (1:40-45), the Magnificat (1:46-55) - all are indicative of the fact that Mary`s saying of βyes" to the Annunciation was out of her free will and from the depth of her heart.