Deuteronomy 10:12

And now, Israel, what does the Lord your God require of you, but to fear the Lord your God, to walk in His ways and to love Him, to serve the Lord your God with all your heart and with all your soul.

When we learn to fear the Lord and walk in His ways, we do it because we understand God’s benefits. When we learn the goodness, love, and protection behind God’s commandments, we realize that our lives will be only satisfied with Him in it.  Once, we understand how God works serving Him with our heart and soul becomes simple.  Meditate on the word of God, and He will show us how simple serving Him really is.