There is no direct contact between the spiritual and physical.
The only way they can be bridged is by means of the vital, animal soul, which serves as an intermediary between the pure soul and the physical body.
Consequently, when a person fulfills a mitzva using his body, it forms a connection between all the elements of his being and the light of Ein Sof.
The animal soul, which provides the physical infrastructure for the mitzva’s execution, links the divine soul – which has attained a deeply intimate connection to God – with the corporeal body, the element that executed the physical act of the mitzva.
Rabbi Adin Steinsaltz