"True obedience comes from a heart that loves and enjoys the things of God, not from a heart that is duty-bound... we must not be satisfied with any kind of "obedience" except the kind of obedience that comes from a heart that desires to obey God and does so naturally, almost without even thinking about it...
we teach the heart first, and the behavior follows once the Gospel becomes beautiful to the heart! This is the case with any command of God as we present it. If we present the Law as primarily behavior-modification, the behavior will happen on the outside but the heart will not change, it will fizzle as soon as the guilt wears off. On the other hand, if we present the Law as a beautiful expression of God's care for the people we teach and lead, we will begin to see people change at the motivational level, which then produces lasting fruit that is in keeping with repentance. I think it was Steve Brown who once said, "I love to sin, but the reason I choose not to is because I love Jesus more!"...
When Jesus becomes truly beautiful, truly lovely to people, they cannot help but follow Him! His commands become irresistible! We will always give our lives effortlessly to the things that give our lives the most meaning!"
Scott Sauls: Grace, Truth and Healing part 2 (read the full thing here)