Duty or Devotion

I watched a webcast of Tom Trask yesterday before church. He asked a question that had been ringing in my heart. Do we serve God our of the discipline of duty or the delight of devotion? Discipline is not bad. But we can't serve God out a false sense of "I have to". Instead we should be delighted to serve Him because we are devoted to Him. If we love Him and appreciate who He is and what He does for us, then we will have a "get to" attitude. I'm not talking about feelings. Of course there are days when we don't feel like going to church or praying. It should be devotion...not duty that gets us through times like that. What parent feels like cleaning up vomit at 3am? We clean it up because we are devoted to the kids we love...not out of duty. So what is it for you when it comes to your walk with God? Duty or devotion?