In this article, the author lays out the development of the issue of autonomy in the history of modern philosophy. Secondly, the author explores how Jürgen Habermas understood private autonomy and public autonomy relationship. For Habermas, private autonomy and public autonomy are not only co-original but equalweight, and presuppose each other. Individual autonomy can only be realized in the circular relationship between the two forms of autonomy. Finally, the author will reflect on the rationality of Habermas' reconstruction of the relationship between the two forms of autonomy through the criticism of Axel Honneth and other scholars.