Grudging obedience is not what [God] desires of us. It may be better than no obedience at all, but it is seriously defective. We should seek, not only to obey him, but also to delight in obedience. That delight comes from prayer and supplication with thanksgiving, through immersion in the words of Scripture and the hearts of the great saints of redemptive history, and through the fellowship of the church in Word and sacrament.
The Doctrine of the Christian Life, p. 306
(HT: Vitamin Z)