“It is grace to know God’s commands. They release us from self-made plans and conflicts. They make our steps certain and our way joyful. God gives his commands in order that we may fulfill them, and ‘his commandments are not burdensome’ (I John 5:3) for him who has found all salvation in Jesus Christ. Jesus has himself been under the law and has fulfilled it in total obedience to his Father. God’s will becomes his joy, his nourishment. So he gives thanks in us for the grace of the law and grants to us joy in its fulfillment. Now we confess our love for the law, we affirm that we gladly keep it, and we ask that we may be kept blameless in it. We do that not in our own power, but we pray it in the name of Jesus Christ who is for us and in us.” Dietrich Bonhoeffer, Psalms: The Prayer Book of the Bible.