"And you shall love the L-rd, your G‑d"—Deuteronomy 6:5.
We are commanded to love G‑d. We foster a love for G‑d by studying and contemplating His Torah, His commandments, and His awesome deeds. Through studying and meditating about G‑d we come to have somewhat of an understanding of His greatness—which automatically spawns a deep love for Him.
This mitzvah also includes sharing our knowledge of G‑d with others, and calling upon our fellows to serve Him. After all, if we love G‑d, we’d surely sing His praises before all who are ready to hear.