In Deuteronomy Moses recites the laws Israel must follow when they take possession of the Land God promised them. Throughout the recitation, Moses often stops, and adds the reason God is giving these particular instructions. He says that you should obey all God’s instructions “…so that it may go well with you and your children after you…”
God never gives us instructions simply to exercize his dominion over us. He instructs us on how to live the best possible lives we can in a fallen world. He does this because He loves us and always has our best interest foremost in mind.
Obedience is a joy when we trust God and believe this with our whole heart!