The role attributed to emotion in behavior has waxed and waned throughout the preceding century. When the recent cognitive revolution hit, theories of mental processes treated the brain as a computer. Models lost sight of the motivations and desires that went into thinking. This chapter reviews research demonstrating an influential role for motivation and emotion in decision making. Based on these findings, a formal model is presented for the selection of goals that integrates emotion and cognition into the decision-making process. This model is a natural extension of decision field theory, which has been successfully used to explain data in traditional decision-making tasks. This model assumes that emotions, motivations, and cognitions interact to produce a decision, as opposed to being processed independently and in parallel. By allowing emotion and cognition to coexist in a single process, this chapter demonstrates a testable model that is consistent with existing findings.