If all this were clearly laid out, and along with that if the needs that ought to move and induce us to confession were clearly indicated, there would be no need of coercion or force. Their own consciences would persuade Christians and make them so anxious that they would rejoice and act like poor, miserable beggars who hear that a rich gift of money or clothes is being given out at a certain place; they would hardly need a bailiff to drive and beat them but would run there as fast as they could so as not to miss the gift.
Suppose, now, that the invitation were changed into a command that all beggars should run to the place, with no reason being given and no mention made of what they were to seek or receive there. How else would beggars go but with resentment, not expecting to receive anything but just letting everyone see how poor and miserable they are? Not much joy or comfort would come from this, but only a greater hostility to the command.
-- Martin Luther, "A Brief Exhortation to Confession" from The Large Catechism in Robert Kolb, ed., The Book of Concord, 476.