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)