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If man was given free will, why is man forced to worship God?

God created man and gave him the free will to choose whom to worship. He never forced us to do anything, but He asked us to love Him "You shall love the LORD your God with all your heart, with all your soul, and with all your mind. This is the first and great commandment. And the second is like it: 'You shall love your neighbor as yourself.' On these two commandments hang all the Law and the Prophets" (Mt 22:37-40). If we really do love Him we will follow Him. When you love someone you strive to do what pleases him. When we do what pleases God, we gain the fruit of this obedience which is peace that surpasses understanding, edification, purification, and sanctification. Therefore it is all for our own advantage. It is clear then that God does not need us but we need Him. If we do or do not worship Him, it will not make Him a greater or a lesser God. As a Father He is advising us  as to what is for our best interest. But again it is up to us to worship Him and follow His teachings or reject them and reap the consequences.