An autonomous system is constructed by a manufacturer, operates in a society subject to norms and laws, and is interacting with end users. All of these actors are stakeholders affected by the behavior of the autonomous system. We address the challenge of how the ethical views of such stakeholders can be integrated in the behavior of the autonomous system. We propose an ethical recommendation component, which we call Jiminy, that uses techniques from normative systems and formal argumentation to reach moral agreements among stakeholders. Jiminy represents the ethical views of each stakeholder by using normative systems, and has three ways of resolving moral dilemmas involving the opinions of the stakeholders. First, Jiminy considers how the arguments of the stakeholders relate to one another, which may already resolve the dilemma. Secondly, Jiminy combines the normative systems of the stakeholders such that the combined expertise of the stakeholders may resolve the dilemma. Thirdly, and only if these two other methods have failed, Jiminy uses context-sensitive rules to decide which of the stakeholders take preference. At the abstract level, these three methods are characterized by the addition of arguments, the addition of attacks among arguments, and the removal of attacks among arguments. We show how Jiminy can be used not only for ethical reasoning and collaborative decision making, but also for providing explanations about ethical behavior.