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לא ניתנה תורה למלאכי השרת the Torah was not given to malachim. To understand this better, it says דרכיה דרכי נועם the ways of Torah are sweet. If we don’t feel it, we are doing something wrong. The Torah does not require us to do something we cannot do because than the Torah would become bitter.
The Dubner Magid explains this with a mashel. A man was invited by someone to stay over. He took along his necessities in a package. Wanting to help him, the host asked his servant to bring it in. When he brings it in, he is sweating and looks exhausted. The guest tells him, this cannot be my package as mine is light and you would not be sweating and exhausted from it. When we are exhausted from keeping the Torah, we are not doing the right thing. Doing the right thing by following the Torah is its own benefit שכר מצוה מצוה, the reward of doing a mitzva, is the mitzva itself, as it brings us enjoyment and tranquility.