The man who attempts to keep the commandments of God from a sense of obligation merely–because he is required to do so–will never enter into the joy of obedience. He does not obey. When the requirements of God are accounted a burden because they cut across human inclination, we may know that the life is not a Christian life. True obedience is the outworking of a principle within. It springs from the love of righteousness, the love of the law of God. The essence of all righteousness is loyalty to our Redeemer. This will lead us to do right because it is right–because right doing is pleasing to God.
– Christ’s Object Lessons, pg. 97