Man must worship his Creator not only out of a feeling of absolute decree and coercion but also out of spontaneous variegated desire and aspiration which gladdens the heart. The Torah commands us to serve God with joy, with longing and yearning, enjoyment and happiness, unfettered pleasure, and the soul's delight. When man does not see God and sense His presence at every turn; when he thinks of God only out of fear of punishment, with a cool intellect, without ecstasy, joy or enthusiasm; when his actions lack soul, inwardness and vitality, then his religious life is flawed. At the same time, if man is not always aware of God, if he does not walk with God in all his ways and paths, if he does not sense God's touch on his stooped shoulders in times of distress and loneliness imparting a certain comfort and encouragement, the his service is likewise incomplete. (Rabbi Joseph B. Soloveitchik, And From There You Shall Seek in Mesorat HaRav Siddur, p. 77)
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