| "And you shall love the L-rd your G-d with all your heart, and with all your soul, and with all your might" (Devarim 6:5). "Love" implies joy because joy begets love. Indeed the greater the joy the more love is awakened. In light of this, what is the nature of joy that is felt through serving HaShem? The Torah reveals the specific actions for man to perform that are pleasing to HaShem. Therefore, we experience deep joy when we fulfill the Mitzvot because we know that our actions meet with HaShem's approval! We perform the Mitzvot with love because they fill us with the joy of knowing that our actions find favor in the eyes of our Creator.
The knowledge that the Mitzvot are pleasing to HaShem, inspires us to perform the Mitzvot with heartfelt joy. Even more, the understanding that the Mitzvot are supremely important in the eyes of HaShem, awakens great love within our hearts.
Envision the Choftez Chaim observing Shabbot Kodesh. Percieve his great understanding of the significance of Shabbot; its holiness, light, and recognition that HaShem is the Creator. Imagine the Chofetz Chaim making Kiddush of Friday night. Experience his love of the Mitzvot and the great joy that the Mizvot awaken in his heart. (Based on the commentary of Seforno) | 
