From a person’s contemplation and knowledge of God’s greatness, and through the emotional response that stems from it (arising from the need to build relationships that bring one closer to God and that keep one at a distance from the things He does not want), he can fulfill a mitzva.
The fulfillment of a mitzva is a direct result of the spiritual perspective that preceded it.
This is the conclusion, the answer, for a person who loves God, who thirsts and yearns for Him.
It is the action by which this person can truly draw close to God.
Rabbi Adin Steinsaltz