Authority refers to legitimate power that is recognized and accepted by society. Consent and cooperation are obtained on a regular and reliable basis because of the backing of a structure of legitimation and formal institutional support.

Domination involves unequal relationships where costs and benefits are unevenly distributed. However, domination can be non-confrontational and appear "smooth" in normal times because it operates through legitimate power or authority. Dominant groups extract cooperation through legitimate power that people consent to.

Law is an explicitly codified norm or rule, usually written down. It specifies how laws are to be made, changed, and what happens if someone violates them. In modern democratic societies, laws are created by the legislature consisting of elected representatives and have binding force on all citizens regardless of their individual beliefs.

Authority and law are closely related because a large part of authority is codified in law. When someone has authority, it implies that other members of society must obey this authority within its proper domain. For instance, a judge has authority in the courtroom, while a police officer on duty has authority over public actions of citizens.

The mix of legitimate, lawful authority and other kinds of power determines the nature of a social system and its dynamics.