Your brain sends electrical signals through nerves to make muscles contract and move your bones. Muscles don't act on their own; they're controlled by your central nervous system, which is the true master of all voluntary movement.
We need to reshape the way we think about our body. I want you to take a minute and imagine yourself. You are at a frame, a skeleton. That skeleton moves when the muscles contract because the muscles are attached to that skeleton. So when a muscle contracts and the other muscle relaxes, a joint moves. But the muscles don't decide when they want to move. The muscles get signals from the nerves, and the nerves get their signals from the brain. So ultimately, your brain and your central nervous system are in charge of all of our movement.
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