The blessing we say on fulfilling commandments starts with “Blessed are You, L-rd our G‑d, King of the universe, Who has sanctified us with His commandments, and commanded us to…”. The Book of Tania (46) says the meaning of “… Who has sanctified us… [A-sher Kidshonu B’mitz-vo-sov]” is that Hashem Blessed is He betrothed us with His commandments like a man betroths a woman as “Here you are betrothed (to me) [Harei At Mekudeshet]”.
Every commandment we do brings us to perfect unity with Hashem. Like a groom who longs for a bride when he kisses and hugs her.