Balancing Love and Fear When Serving Hashem

In a recent, live Inner Circle call, Rabbi Kelemen answered the following question. Members can submit questions like these to Rabbi Kelemen and tune into the monthly calls with him.

"How can one find the balance in doing Mitzvos with calmness and joy, with having the fear of Gd to do them properly?  For me, personally, this struggle for proper balance comes up mainly while preparing for the mikvah. But there seems to be many mitzvos that contain nuances and details which if forgotten could invalidate the entire mitzvah.  How can I channel my fear of making a mistake, to be only an asset in my Avodah and not something that prevents me from having joy while doing it?"