How can happiness and joy be achieved without disobeying God, and how can one enjoy worship and feel happy in it?

Some young people believe that adherence to religion requires a specific appearance, whereas the Companions of the Prophet, peace be upon him, were not distinct from other people; rather, they were part of their society. The Prophet, peace be upon him, mingled with people, was the cleanest in his clothes, the most pleasant in scent, and his character was the Qur'an, as Allah Almighty says: "But seek, through that which Allah has given you, the home of the Hereafter; and [yet], do not forget your share of the world" and "O children of Adam, take your adornment at every masjid, and eat and drink, but be not excessive." The religion of Islam fulfills human material and spiritual desires, balancing the rights of the Lord, oneself, family, and visitors, as in the hadith (definition): "Indeed, your Lord has a right over you, and your body has a right over you, and your family has a right over you, and your guests have a right over you. So give every right-bearer his due." This balance is what distinguishes Islam, unlike the corrupted Christian religion, which was dominated by the spiritual aspect, and Western materialistic philosophy, which neglected the spiritual aspect. Happiness in this world and the Hereafter lies in balance and giving every right-bearer his due. Happiness in worshipping Allah comes from faith and love for Allah and His Messenger, for by the remembrance of Allah do hearts find tranquility, as Allah Almighty says: "Those who have believed and whose hearts are assured by the remembrance of Allah. Unquestionably, by the remembrance of Allah hearts are assured." The Prophet, peace be upon him, would turn to prayer when a matter distressed him, and he found the coolness of his eyes in it. The most dangerous things that harm a Muslim's heart are distance from Allah, an abundance of sins, mingling with the heedless, and prolonged hope.