Psalm 19:8

The statutes of the LORD are right, rejoicing the heart: the commandment of the LORD is pure, enlightening the eyes.

Man was made to have a personal relationship with God. Evidence to this is the fact that God was walking in the garden of Eden looking for Adam and Eve. Think about that. If God created us just so He could rule over us with an iron fist and not have a personal relationship with us, then why would He have been walking in the garden that day. He is omnipresent (He is everywhere, all of the time). He was walking in the garden looking for Adam and Eve because He loved them and had a relationship with Him, and while they were following Him, there was no problem. They could be with God, talk with Him, walk with Him, they could have a friendship with God. The same goes for us. As long as we are following the Lord, His statutes and commandments bring us joy. Some try to say that His laws are to enslave us, but the truth is, His laws actually free us; sin enslaves us! His law is only a burden to those who still struggle with the penalty of breaking that law. If you have accepted Jesus as your savior, then He has already dealt with the penalty that you deserve. The fact that He kept God's statutes and commandments for you and me should cause us to rejoice in those statutes and commandments. Jesus didn't come to destroy God's law, He came to fulfill it. God's law is still as true and right today as it has always been. We may not always understand it, but that doesn't diminish its importance or relevance. So, don't think of God's law as a limiting factor in your life. Instead, think of God's law as a guide that shows you how to have true life in Jesus.