by Reb Gutman Locks @ Mystical Paths
When we do a mitzvah properly, trying to understand why Hashem wants us to do that mitzvah, and we try to see what changes when we do it, spiritual joy comes into our life. Hashem did not give us the mitzvahs to burden us. He gave them to us to remove a burden. Either we serve G-d, or we serve our senses.