"Serve the Almighty with joy." (Psalms 100:2)
Joy adds to our enthusiasm and love for the Almighty and will motivate us to cleave to Him. If a person is sad when he fulfills the commandments, it is analogous to a servant who serves his master with a sad facial expression. Try to feel joy whenever you fulfill a mitzvah.
The Talmud relates that some people saw that the Sage Abaye was very happy. They asked him why. "I have just performed a mitzvah, so I feel great joy," he replied.
(Rabbi Chaim Vital - Shaarey Kedushah 2:4; cited in Rabbi Pliskin's "Gateway to Happiness," pp.93-4)
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