If you want the rewards of the spirit you are going to have to give up the desires of the flesh...I know, it sounds tough because it is. It doesn't make sense but here is how I learned when it does.
I've been kneeling down while praying lately. I have been through that whole, "you can come before God anyway you want" phase. Kneeling is uncomfortable, it hurts, especially on hard floors. For me though, thats becoming the point. Prayer is acknowledging that this vehicle in which you inhabit, the flesh, is temporary. My flesh wants what it wants and rarely, if ever, it wants nothing to do with spiritual things. My flesh would rather listen to five hours of Christian history on Audible to justify that I can play video games for hours, be rude to others, drink too much wine, and overeat to my hearts content. Yet when it comes to prayer, even for just thirty seconds, my flesh will fight me for hours. The flesh knows what happens when you start to move into that place of dependence on and submission under God.
The flesh loses ground.
And that's what is in the best interest for all of us. Jesus came to earth to remind us that we must not store treasures up on earth, He came to remind us that the flesh will not have a place, not even a say, in the kingdom to come. I think Islam has a great practice in praying five times a day to drill this truth in and I think Jesus was right for us to not get hung up on what we are to say in prayer but it is rather how we, in the words of Paul, "punish our body and enslave it" so it does not disqualify us from the our reward.
What is the reward? Why would anyone choose to live in such a way?
When you live by the spirit you no longer need to overeat, you no longer need to over drink, you no longer need to lust, you no longer need to be frustrated...you no longer desire any other reward for you have received the greatest reward of all.
You have submitted to the great I am, the great Tree of Life to which all of us will be grafted into or pruned from. All are welcome to be grafted, all we need to do is just be still and let the Spirit bind us into itself.