Ah, for duty & delight to coincide!

J.I. Packer: “Man was not created autonomous, that is, free to be a law to himself, but theonomous, that is, bound to keep the law of his Maker. This was no hardship, for God had so constructed him that grateful obedience would have brought him highest happiness; duty and delight would have coincided, as they did in Jesus (John 4:34; cf. Pss. 112:1; 119:14, 16, 47-48, 97-113, 127-128, 163-167). The fallen human heart dislikes God’s law, both because it is a law and because it is God’s; those who know Christ, however, find not only that they love the law and want to keep it, out of gratitude for grace (Rom. 7:18-22; 12:1-2), but also that the Holy Spirit leads them into a degree of obedience, starting with the heart, that was never theirs before (Rom. 7:6; 8:4-6; Heb. 10:16).”

Three helpful articles on God’s Law, from J.I. Packer’s book, Concise Theology:
Law – God legislates, and demands obedience
Law in Action – God’s moral law has three purposes
Conscience – God teaches and cleanses the heart