willingly
adv.doing something because you want to, not because someone is forcing you. You use this when you are happy or ready to help.
adv.in a manner that shows a readiness or desire to act without being coerced.
“She willingly offered to help us with the heavy boxes.”
“Many people willingly volunteered their time over the weekend to help clean up the local park after the storm.”
“The witness willingly provided a detailed statement to the investigators, hoping that her cooperation would lead to a swifter resolution of the case.”
Typically placed before the main verb or at the end of the clause to emphasize the subject's intent.
From Middle English willyngly, wyllyngly (“intentionally, deliverately; freely, gladly”), from Old English willendlīċe (“diligently”), equivalent to willing + -ly.
Etymology adapted from Wiktionary, available under CC BY-SA 4.0.