Worship is not so burdensome and difficult that the Muslim needs to have a rest from it. Rather it is an act of love and veneration of Allah, may He be exalted. What motivates one to do it is sincere love of Allah and great longing for Him; the Muslim humbles himself in worship before his Lord, calling upon Him, conversing with Him, turning to Him, putting his hope in His mercy, seeking His grace and bounty and nearness to Him. The one who is like this will not ask to be let off this worship; he will only ask for more opportunities for worship and obedience. He will be like the Prophet (blessings and peace of Allah be upon him) who used to say: “Let us find comfort in it — i.e., in prayer — O Bilaal.”
Ibn al-Qayyim (may Allah have mercy on him) said: There is no doubt that perfect servitude to Allah is part of perfect love, and perfect love is connected to the perfection of the Beloved in and of Himself, for Allah, may He be glorified, is completely and absolutely perfect in all aspects, and could not possibly have any imperfections whatsoever. For one who is like this, nothing can be dearer to people’s hearts than Him; so long as their basic nature and reason are sound, it is inevitable that He will be the dearest of all things to their hearts. Undoubtedly love of Him leads to submission and obedience to Him, seeking His pleasure, doing one’s utmost in worship of Him and turning to Him. This is the best and strongest motive to do acts of worship. Even if there were no commands and prohibitions, no reward and punishment, one would do one’s best and devote one’s heart to the true God.
Therefore one of the salaf said: “Loving Him motivates me in such a way that is even stronger than His commands.”
And ‘Umar said concerning Suhayb: Even if he did not fear Allah, he would not disobey Him…
The Messenger of Allah (blessings and peace of Allah be upon him) used to stand (in prayer) until his feet became swollen. It was said to him: Do you do this even though your past and future sins have been forgiven?
He said: “Should I not be a thankful slav”
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