A mitzva allows me to draw close to God despite my imperfections — even because of my imperfections. When I feel this deep in my bones, then a mitzva is not a burden. It's a gift! It's a treasure! God is saying to me, "Come, get closer."
The more my day is filled with mitzvos, the more I can hear God saying, "Come close. I want you. Yes, you. You're my child; I want you close to Me."