" Christians today are often encouraged to obey God so that they can get something out of it. “If I do this, God will do that,” many reason. But Luther insisted that the gospel—including the part about human helplessness and God’s omnipotent grace—needs to be so clearly preached that those who hear it will not need to be coaxed, harassed, or frightened into obedience. The gospel, not bare commands, is the motivation for thanksgiving. If we are unclear about this point, we cannot have thankful hearts. "

― Michael S. Horton , The Law of Perfect Freedom: Relating to God and Others through the Ten Commandments