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Worship is in essence humility before God and sincere submission to His will.

This is the meaning of the word Islam. True submission comes after acknowledging His Divinity, followed by acceptance and conformity to the divine command which comes in the form of divine revelation. God tells the Prophet, peace be upon him, to say to humankind,

“If you love God, then follow me; for then God will love you and forgive you your sins. God is Oft-Forgiving, Most Merciful.”
Quran (3:31)

The human heart experiences peace and serenity when its desires and inclinations are aligned in accordance with divine revelation. Further perseverance in the path of worship yields a delight and sweetness in the heart whose taste produces an attachment and yearning for God.