The commandments were given for our ultimate benefit and pleasure. Therefore we should feel great joy whenever doing any good deeds.
[Think about the good deeds you currently perform with joy. Then, think about the potential joy you have not yet experienced - and how your life would be enhanced by mastering the ability to experience joy for good deeds.]
(Mussray Rebbeinu Yehonoson, cited in Rabbi Pliskin's "Gateway to Happiness," p.91)
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